MC_Phasing

 Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Performs a master position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. phase shift Compensation for the lag between the electromagnetic and magnetic fields in the motor. for the slave axis.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	0, 1	N/A	No default	On the rising edge The transition of a digital signal from low to high. AKA: positive edge., request to queue the phase shift.
Master	AXIS_REF	1, 256	N/A	No default	Name of a declared instance of the AXIS_REF library function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances.. See Axis Name and Number. See AXIS_REF Structure.
Slave	AXIS_REF	1, 256	N/A	No default	AXIS_REF.AXIS_NUM is the slave axis number. See AXIS_REF Structure.
PhaseShift	LREAL	No range	User units	No default	Amount of phase shift.
Velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP	LREAL	No range	User unit/sec	No default	Velocity setpoint The target value that an automatic control system (e.g., PID controller) aims to reach..
Acceleration A change in velocity over time. Because velocity is a vector, it can change in two ways: a change in magnitude and/or a change in direction. In one dimension, acceleration is the rate at which something speeds up or slows down. However, more generally, acceleration is a vector quantity expressing the change with time of the velocity both in magnitude and in direction. See these Wikipedia articles for more information: http://en.wikipedia.org/wiki/Velocity http://en.wikipedia.org/wiki/Euclidean_vector http://en.wikipedia.org/wiki/Rate_(mathematics)	LREAL	No range	User unit/sec2	No default	Trapezoidal: Acceleration rate. S-curve: Maximum acceleration. See S-curve and Trapezoidal Acceleration / Deceleration.
Deceleration	LREAL	No range	User unit/sec2	No default	Trapezoidal: Deceleration rate. S-curve: Unused. See S-curve and Trapezoidal Acceleration / Deceleration.
Jerk In physics, jerk is the rate of change of acceleration. More precisely, the derivative of acceleration with respect to time.	LREAL	No range	User unit/sec3	No default	Trapezoidal: 0 (zero). S-curve: Constant jerk. See S-curve and Trapezoidal Acceleration / Deceleration.
BufferMode	SINT	0, 5	N/A	No default	0 = Abort. 1 = Buffer. 2 = Blend A way that consecutive function blocks cooperate in the transition from the first to the next. to active. 3 = Blend to next. 4 = Blend to low velocity. 5 = Blend to high velocity. See Buffer Modes.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL	No range	N/A	Indicates the phase shift has been completely applied.
Busy	BOOL	No range	N/A	High from the moment the Execute input is one-shot to the time the move is ended.
Active	BOOL	No range	N/A	Indicates this phase shift is the active phase shift.
CommandAborted	BOOL	No range	N/A	Indicates the move was aborted.
Error	BOOL	No range	N/A	Indicates either: An invalid input was specified. The move was terminated due to an error.
ErrorID	INT	No range	N/A	Indicates the error if Error output is TRUE. See PLCopen Function Block ErrorIDs.

Remarks

• 
  
• This function block starts a motion-related action and stores data for calculations and error checking.
  See Call Function Blocks Multiple Times in the Same Cycle if using a dual-core controller.

• See Function Blocks - General Rules about how inputs and outputs work.
• See Main about how this function is used in the Hole punch project.

This function block:

• Provides a way to smoothly apply a master offset instead of writing values directly The orientation components of a vector in space. to the Master Offset Parameter 1002.
• Is commonly used with MC_TouchProbe for performing position corrections on the slave axis in a Mark-to-Mark registration application.

• 
  
• MC_Phasing performs a similar function to adjusting the MasterOffset input in the MC_CamIn function block.
  It has the additional features of setting the velocity, acceleration, deceleration, and jerk motion parameters.

• The distance entered at the PhaseShift input is iterated into the Slave axis’s Master Offset.
  • This distance is iterated like a MC_MoveRelative move using the specified Velocity, Acceleration, Deceleration, and Jerk values.
• The difference is the interpolated command delta is not commanded to the axis but is added to the Slave axis’s Master Offset.
  • This shifts the Master axis’s position as viewed by the Slave axis, causing a change in the Slave axis’s physical position.
  • This only affects the Slave axis if it is executing a slave move.
• Subsequent calls to MC_Phasing can abort or blend to an executing MC_Phasing command.

Figure 1: MC_Phasing

FBD Language Example

Not available.

FFLD Language Example

IL Language Example

Not available.

ST Language Example

(* MC_Phasing ST example *) //Inst_MC_Phasing is an instance of MC_Phasing function block
Inst_MC_Phasing(PhasingAxis1, Axis2, Axis1, 1000.0,100.0, 200.0, 200.0, 0, 0 );