MC_PhasingRelative
This function block commands a relative phase shift in the master position of a synchronized slave axis. It is only valid for camming synchronization. The master axis is not aware of the phase shift.
Syntax
Definition:
FUNCTION_BLOCK MC_PhasingRelative
VAR_INPUT
Master : Type_Master1D;
Slave : Type_Phasing1D;
Execute : BOOL;
PhaseShift : LREAL;
Velocity : LREAL;
Acceleration : LREAL;
Deceleration : LREAL;
Jerk : LREAL;
END_VAR
VAR_OUTPUT
Done : BOOL;
Busy : BOOL;
Active : BOOL;
CommandAborted : BOOL;
Error : BOOL;
ErrorId : UDINT;
CoveredPhaseShift : LREAL;
END_VAR
Inputs
|
Name |
Type |
Default |
Description |
|---|---|---|---|
|
Master |
Type_Master1D |
|
Reference to the master axis |
|
Slave |
Type_Phasing1D |
|
Reference to the slave axis |
|
Execute |
BOOL |
|
Trigger the command with rising edge. |
|
PhaseShift |
LREAL |
#Invalid |
Additional phase difference in master position of the slave axis ([PosUnit]) |
|
Velocity |
LREAL |
#Invalid |
Maximum velocity ([PosUnit]/s, positive) |
|
Acceleration |
LREAL |
#Invalid |
Maximum acceleration ([PosUnit]/s^2, positive) |
|
Deceleration |
LREAL |
#Invalid |
Maximum deceleration ([PosUnit]/s^2, positive) |
|
Jerk |
LREAL |
#Invalid |
Maximum jerk ([PosUnit]/s^3, positive) |
Outputs
|
Name |
Type |
Description |
|---|---|---|
|
Done |
BOOL |
Commanded phasing reached |
|
Busy |
BOOL |
Function block is not finished and new output values are to be expected. |
|
Active |
BOOL |
Function block has active control on the axis. |
|
CommandAborted |
BOOL |
Command is aborted by another command. |
|
Error |
BOOL |
Error occurred within function block. |
|
ErrorId |
UDINT |
Error identifier |
|
CoveredPhaseShift |
LREAL |
Accumulated relative phase shift applied so far. |