Phaser

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• • See Phaser Function Examples.
  • See Pipe Block Descriptions for a description of the this pipe block and its parameters.

Names	Description
MLPhaInit	Initializes a phaser Pipe Block.
MLPhaReadActPhase	Gets the actual phase value of a phaser block.
MLPhaReadPhase	Gets the phase value of a phaser block.
MLPhaReadSlope	Gets the phase slope value of a phaser block.
MLPhaWritePhase	Sets the phase value of a phaser block.
MLPhaWriteSlope	Sets the phase slope value of a phaser block.

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• There is a delay when using an external encoder Generates an output signal directly proportional to the movement of the motor shaft. This signal is fed into the control circuitry to control the shaft position and speed. The most common types are: Incremental/Serial encoders, Hall effect sensors, Resolvers, Tachometer Generators See: Optical encoders..
  The delay is five cycles:
       2 cycles to read the encoder from the AKD via EtherCAT Ethernet ofr Control Automation Technology. EtherCAT® is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT is to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs.,
       1 cycle for computing,
       2 cycles for sending the new 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. set point to the AKD).
  This lag error is speed Speed is the absolute value of the velocity without direction. proportional (5 cycles * speed).
  A Phaser block can be used to compensate for this lag.

When executing, the phaser block is in one of these states:

State	Description
Applying Phase	Entered when the programmed The act of performing a sequence of instructions or commands. Phase value is reached. Exits to the Changing phase state whenever a new value is programmed via the MLPhaWritePhase function changes the Phase Offset target.
Changing Phase	Entered when a new value is programmed. Exits to the Applying Phase state when the programmed phase offset is reached. The current Phase offset value is slewed to the new phase offset by the amount of the slew value.
Standby	Entered when the Block is initialized. Exits to the Changing Phase state when the Phase value is changed via the MLPhaWritePhase command.

Phaser Function Examples

• Call MLPhaWritePhase function to modify the Phase value..
• Call MLPhaWriteSlope to modify the rate of change of phase, or slope, applied when the Phase value is changed.

 

Figure 1: Phaser Functions Usage

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• % MODULO_POSITION is in the equation to take into account the modulo (periodicity Motor systems having a reciprocating or oscillating motor that operates synchronously with the periodicity of the source which supplies the electrical energy. The period of execution of a pipe is the time spent between two successive computations of set values for the same pipe. The period of execution of a pipe is specified by the PERIOD parameter of the input pipe block.) of the value.