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.

Possible error codes

For this function block, the following values, among others, are possible for the ErrorId output:

Error(Hex)	Error(Dec)	Error type	Description
0x8145	33093	Function Block	Mapping of cyclic interface between NC and PLC is missing (e.g., AXIS_REF, AXES_GROUP_REF, ...). A reference used by the function block (e.g., to an axis, group, mover or other motion object) is not linked to the corresponding NC object, or its cyclic mapping is incomplete.
0x8146	33094	Function Block	Invalid velocity value. The velocity was not set or the entered value is invalid.
0x8151	33105	State	Command is not allowed in current axis state. If the axis has no controller enable, is in error or has been added to a group, some commands are not permitted.
0x81a9	33193	Parameter	Invalid acceleration value. The supplied acceleration value is invalid (e.g. not a finite number, negative or outside the permitted range).
0x81aa	33194	Parameter	Invalid deceleration value. The supplied deceleration value is invalid (e.g. not a finite number, negative or outside the permitted range).
0x81ab	33195	Parameter	Invalid jerk value. The jerk value used for the motion is invalid (e.g., negative, zero, or outside the permitted range of the mover or axis).

An overview of all NC error codes can be found here:

Other errors

Version information

TwinCAT Standard >= v3.1.4026.23.1
TF5500 MC3 Base >= v4.0.6