MC_Phasing

 Function Block - Performs a master position phase shift for the slave axis.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	FALSE, TRUE	N/A	No default	On the rising edge, request to queue the phase shift.
Master	AXIS_REF	1 to 256	N/A	No default	Name of a declared instance of the AXIS_REF library function. See Axis Name and Number. See AXIS_REF Structure.
Slave	AXIS_REF	1 to 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	LREAL	No range	User unit/sec	No default	Velocity setpoint.
Acceleration	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	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 to 5	N/A	No default	0 = Abort. 1 = Buffer. 2 = Blend 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	FALSE, TRUE	N/A	Indicates the phase shift has been completely applied.
Busy	BOOL	FALSE, TRUE	N/A	High from the moment the Execute input is one-shot to the time the move is ended.
Active	BOOL	FALSE, TRUE	N/A	Indicates this phase shift is the active phase shift.
CommandAborted	BOOL	FALSE, TRUE	N/A	Indicates the move was aborted.
Error	BOOL	FALSE, TRUE	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.
  If using a dual-core controller, see Call Function Blocks Multiple Times in the Same Cycle.

• 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 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 );