# Menu 39 Single Line Descriptions − AMC Position Control Loop

Mode: RFC‑A

Parameter | Range | Default | Type
--- | --- | --- | ---
39.001 | AMC External Position Reference Select | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
39.002 | AMC External Position Reference | -2147483648 to 2147483647 UU | 0 UU | RW | Num |  |  |  |
39.004 | AMC External Speed Reference | ±VM_AMC_SPEED UU/ms | 0.00 UU/ms | RW | Num |  |  |  |
39.005 | AMC Inertia Compensation Mode | None (0), Acceleration (1), Torque (2) | None (0) | RW | Txt |  |  |  | US
39.007 | AMC Position Control Loop Kp Gain | 0.000 to 500.000 | 25.000 | RW | Num |  |  |  | US
39.008 | AMC Position Error | ±VM_AMC_POSITION UU |  | RO | Num | ND | NC | PT | FI
39.009 | AMC Position Control Loop Speed Clamp | ±VM_AMC_SPEED_UNIPOLAR UU/ms | 109.20 UU/ms | RW | Num |  |  |  | US
39.010 | AMC Speed Feed‑forwards Gain | 0.000 to 2.000 | 1.000 | RW | Num |  |  |  | US
39.011 | AMC Output Speed Clamp | ±VM_SPEED_FREQ_REF | 1000.0 | RW | Num |  |  |  | US
39.012 | AMC Output Speed | ±VM_SPEED_FREQ_REF |  | RO | Num | ND | NC | PT | FI
39.013 | AMC Output Invert | Off (0) or On (1) | Off (0) | RW | Bit |  |  |  | US
39.014 | AMC External Acceleration Reference | ±VM_AMC_RATE UU/ms² | 0.000 UU/ms² | RW | Num |  |  |  |
39.015 | AMC External Reference Mode | 0 to 1 | 0 | RW | Num |  |  |  | US
39.016 | AMC External Control State | 0 to 17 |  | RO | Num | ND | NC | PT |

RW | Read / Write | RO | Read-only | Bit | Bit parameter | Txt | Text string | Date | Date parameter | Time | Time parameter
Chr | Character parameter | Bin | Binary parameter | IP | IP address | Mac | MAC address | Ver | Version number | SMP | Slot, menu, parameter
Num | Number parameter | DE | Destination | ND | No default value | RA | Rating dependent | NC | Non-copyable | PT | Protected
FI | Filtered | US | User save | PS | Power-down save |  |  |  |  |  |