MC_Phasing

The MC_Phasing FB is used to achieve an offset of the slave axis with respect to the master axis. To this end, a phase offset of the master axis is specified from the point of view of the master axis and the slave axis tries to eliminate this offset by accelerating or decelerating. The motion is always executed jerk-limited with the constant set input ‘Jerk’. This value is valid for both ‘Acceleration’ and ‘Deceleration’.

The mechanical analogy is releasing coupling of the master and slave axes for a limited period.

In the case of camming, this FB results in a change in the ‘apparent’ master position from the slave's point of view. In the case of gearing, a phase offset is produced between the master and slave by commanding a superimposed motion in the slave. Therefore, in the case of gearing, MC_Phasing has the same effect as MC_MoveSuperImposed (into which it is actually converted in the control system).

In the case of camming, the dynamics values ‘Velocity’, ‘Acceleration’ and ‘Deceleration’ refer to the change in the ‘apparent’ master position from the point of view of the slave whereas, in the case of gearing, they refer to the superimposed motion of the slave axis itself.

Block diagram

MC_Phasing 1:

Parameters of the FB

VAR_IN_OUT

 

Master

AXIS_REF

Axis reference to the master axis.

 

Slave

AXIS_REF

Axis reference to the slave axis

VAR_INPUT

 

Execute

BOOL

Start the phasing process at the rising edge.

 

PhaseShift

LREAL

Phase shift between master axis and slave axis, as seen by the slave axis. The calculated phase shift is transferred to the slave axis as the master axis position.

Range [-2147483648.0, 2147483647.0]
Default unit [0,1µm or 10-4 °]

 

Velocity

LREAL

Maximum value of the velocity that may be attained during generation of the phase shift. The velocity is not necessarily achieved.

Range [1.0, 2147483647.0]
Default unit [1µm/s or 10-3 °/s]

 

Acceleration

LREAL

Maximum acceleration to reach phase difference (always positive).

Range [1.0, 2147483647.0]
Default unit [1mm/s2 or 1°/s2]

 

Deceleration

LREAL

Maximum deceleration to reach phase difference (always positive).

Range [1.0, 2147483647.0]
Default unit [1mm/s2 or 1°/s2]

 

Jerk

LREAL

Maximum Jerk to reach phase difference (always positive).

Range [1.0, 2147483647.0]
Default unit [1m/s3 or 1000°/s3]

VAR_OUTPUT

 

Done

BOOL

Commanded phasing reached.

 

CommandAborted

BOOL

Command is aborted by another command.

 

Error

BOOL

Indicates if an error has occurred.

 

ErrorID

WORD

Error identification.

Behavior of the FB