AMC Simple Overview remote training

Training Department

14th March 2022

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 Housekeeping

 This is a remote training session requiring the participation of the attendees

 2Hr Webinar remote training session
 Please ensure phones are muted
 Please pose questions via the chat function of the WebEx
 The WebEx be recorded and available via the Support Suite

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 Agenda
 Aim
 Required Equipment & Material
 Motion implementation
 Comparison to APC
 AMC Functional Overview
 Enabling the AMC
 Set user units
 Position and Speed References
 Electronic Gearbox
 Homing
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 Cam
 Aim

 The aim of this workshop is provide a brief overview of the Onboard AMC
of Unidrive M70x
 Items to be covered
- Enabling the AMC
- Using a Position and a Speed Reference
- User Units
- Electronic Gearbox (EGB)
- Homing
- Cam

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 Required Equipment & Material

 Equipment
- M700 demo case with static address 192.168.0.100
- PC with Connect & CTScope installed with compatible static IP address
- PC to show WebEx or USB LAN adaptor
- Web Cam

 Material (included with a link after registration)

- Connect AMC project with extended CAM
- AMC Worked example
- AMC 2021_ v0101.pptx presentation

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 Required Equipment & Material

 Connect Project
 AMC worked example

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 Implement Position Control with No Option Modules

 Advanced Motion Controller (AMC) on-board as standard to implement

advanced 1.5 axes motion systems:
- Real-time tasks
No PLC
Required
- 250μs cycle time
- Motion profile generator
- Electronic gearbox
- Interpolated cam (20 points)
- Homing functions
- High speed position freeze
- Can be configured straight from the keypad or using Machine Control Studio (MCS)

 Extra control performance can be implemented by using high performance

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 Comparison between the AMC and APC

 Advanced Motion Controller  Advance Position Controller

- No option required - SM-Applications
- Parameter interface - Function calls
- Min 250us update (no user resource) - Min 500us update with user program
- 20 CAM points - Unlimited number of CAM points
- Torque & acceleration feed-forwards
- Accessible from onboard program
- Standard homing routines
- 2 configurable freeze functions +
- Virtual master on master position

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 AMC Functional Overview

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 AMC Functional Overview

Menu Unidrive M70x/Digitax HD Description

31 AMC General Set-up
32 AMC Master Position
33 AMC Slave Position
34 AMC Reference Selector
35 AMC Cam
36 AMC Cam Table
37 AMC Electronic Gear Box
38 AMC Profile Generator
39 AMC Position Control Loop
40 AMC Homing System
41 AMC Control and Status

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 AMC Functional Overview

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 Enabling the AMC

 The motor map and the encoder data for P1 and P2 have already been
configured on the demo case
 Enabling the AMC
- AMC Select, Pr 31.001 = On
- AMC Enable, Pr 41.001 = On
- Enable drive with run forward
Only two parameters are needed to enable motion. No PC tools, no code to write

 Load Connect project and follow worked examples

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 Enabling the AMC

AMC Enable (On)

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 Set user units

Unit Scaling

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 Set user units
1 Rev = 36000 User units
 Set user units to 0.01 degrees 1 Rev = 65536 AMC units

- Disable the drive

Position
- Set master numerator to ∆ user units, Pr 31.004 = 36000
- Set master denominator to ∆ encoder units, Pr 31.005 = 65536
- Repeat the above for follower, Pr 31.006 = 36000 & Pr 31.007 = 65536
- Invert for the output ratio, Pr 31.008 = 65536 & Pr 31.009 = 36000

Use the highest possible user unit resolution, e.g. use µm instead of mm

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 Position and Speed References

 Speed Reference
- Set the required speed reference in Pr 34.006 (e.g. 100)
User Units/ms
- Set the reference selector to speed Pr 34.007 = Speed

 Position Reference
- Set the reference selector to position Pr 34.007 = Position
- Set the required position reference in Pr 34.003 (e.g. 36000)
User Units
-

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 Electronic Gearbox

 EGB Basics
- EGB Mode (Electronic Gearbox) creates a slave position follower to a master based
upon a defined ratio.

Master Slave
AMC EGB Ratio
Numerator = 1000
(37.002)
Position

Position
AMC EGB Ratio
Denominator = 1000
(37.003)

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 Electronic Gearbox

 EGB
- Set the reference selector to EGB, Pr 34.007 = EGB
- Enable the drive
- Move the master encoder (P2)

- Change Numerator Pr 32.002 = 1000 ratio and observe operation

- Denominator Pr 32.003 = 1000

- Enable Rigid Digital Lock and observe operation

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 Homing

 Homing Basics
- Homing will allow us to datum our slave source to a known machine position.

+ Limit
Sensor

Home
- Limit Sensor
Sensor

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 Homing

 F1 freeze source has been set to digital input 5 (Home Sensor),

- Pr 08.025 = 0.000
- Pr 03.100 = Digital Input 5

 Homing (Home on Freeze)

- Set the home mode Pr 40.002 = 1 (On freeze)
- Set the reference selector to Home Pr 34.007 = Home
- Go to the slave position, Pr 33.004
- Enable drive
- Set Digital Input 5 – Home slave

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 Cam

 Basic CAM Principals

- A mechanical cam produces linear or varied motion from a continuous circular
motion i.e. one motion with respect to another.

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 Cam

 Cam from master reference

- Disable the drive
- Set the input of segment 0, Pr 36.004 = 10000
- Set the output of segment 0, Pr 36.005 = 36000
- Interpolation for segment 0, Pr 36.006 = Cos1 (0)
- Set the master source to user speed, Pr 32.001 = Speed (0)
- Set the required master speed, Pr 32.008 (e.g. 10)
- Set the reference selector to CAM, Pr 34.007 = CAM
- Enable the drive

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 Roundup

 Thank you for your time in attending this Training session or in reviewing the
material a later date
 I hope that you have found it useful.
 I would appreciate if you could give feedback with the link sent via TEAMS chat
 If you have any questions, please email me on:-
 [email protected]
 The Recorded WebEx will be placed on Support suite and a notification will be sent
when it is available
Edward Evans | Product Training Manager
T +44 (0) 1686612992 | [email protected]

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