MC_PhasingAbsolute

The function block MC_PhasingAbsolute can be used to set a phase shift between a master axis and a slave axis. The function block executes a superimposed movement of the slave axis and thus sets a position difference "PhaseShift" between master and slave.

The dynamic values "velocity", "acceleration" and "deceleration" refer to the superimposed movement with which the phase shift is carried out. The movement is always jerk-limited, based on the constant jerk value set in the Jerk parameter. This value applies both to "Acceleration" and "Deceleration".

The phase shift can be used for a simple MC_GearIn coupling, as well as for a coupling with dynamic coupling factor. In the latter case, note that MC_GearInMultimaster is used with Options.AdvancedSlaveDynamics = TRUE (gearing) or MC_CamIn_V2 (camming).

MC_GearInDyn is not supported.

Inputs

VAR_INPUT
    Execute            : BOOL;
    ContinuousUpdate   : BOOL;
    PhaseShift         : LREAL;
    Velocity           : LREAL;
    Acceleration       : LREAL;
    Deceleration       : LREAL;
    Jerk               : LREAL;
    BufferMode         : MC_BufferMode;
    Options            : ST_PhasingOptions;
END_VAR

Name	Type	Description
Execute	BOOL	The command is executed with a rising edge.
ContinuousUpdate	BOOL	If this input is TRUE at the rising edge at the "Execute" input, the "PhaseShift", "Velocity", "Acceleration", "Deceleration" and "Jerk" inputs can be changed during the execution of the command and made effective as quickly as possible.
PhaseShift	LREAL	Phase shift to be set between master and slave axis
Velocity	LREAL	Maximum velocity that may be reached during the phase shift (>=0.01).
Acceleration	LREAL	Maximum acceleration value
Deceleration	LREAL	Maximum deceleration value
Jerk	LREAL	Maximum jerk value
BufferMode	MC_BufferMode	MC_Aborting only
Options	ST_PhasingOptions	Not implemented

Inputs/outputs

VAR_IN_OUT
    Master : AXIS_REF;
    Slave  : AXIS_REF;
END_VAR

Name	Type	Description
Master	AXIS_REF	Axis data structure of the master
Slave	AXIS_REF	Axis data structure of the slave

The axis data structure of type AXIS_REF addresses an axis unambiguously within the system. Among other parameters it contains the current axis status, including position, velocity or error state.

Outputs

VAR_OUTPUT
    Done               : BOOL;
    Busy               : BOOL;
    Active             : BOOL;
    CommandAborted     : BOOL;
    Error              : BOOL;
    ErrorId            : UDINT;
    AbsolutePhaseShift : LREAL;
END_VAR

Name	Type	Description
Done	BOOL	TRUE when the absolute phase shift is established.
Busy	BOOL	TRUE as soon as the command is started with Execute and as long as the phase shift occurs. If "Busy" is FALSE, the function block is ready for a new order. At the same time, one of the outputs "Done", "CommandAborted" or "Error" is set.
Active	BOOL	Indicates that the command is executed. If the command was buffered, it becomes active once a running command is completed.
CommandAborted	BOOL	TRUE if the command could not be executed completely. The axis was stopped or the current command was replaced by another Move command.
Error	BOOL	TRUE, if an error occurs.
ErrorID	UDINT	If the error output is set, this parameter supplies the error number.
AbsolutePhaseShift	LREAL	Absolute phase shift

Requirements

Development environment	Target system type	PLC libraries to include
TwinCAT v3.0.0	PC or CX (x86 or x64)	Tc2_MC2