Motion Library - Phaser

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• • For an example of Phaser functions, see Usage example of Phaser Functions
  • For a description of the this pipe block and its parameters, see Pipe Blocks Description

Names	Description	Return type
MLPhaInit	Initializes a phaser Pipe Block	BOOL
MLPhaReadPhase	Gets the phase value of a phaser block	None
MLPhaReadSlope	Gets the phase slope value of a phaser block	None
MLPhaWritePhase	Sets the phase value of a phaser block	BOOL
MLPhaWriteSlope	Sets the phase slope value of a phaser block	BOOL
MLPhaReadActPhase	Get the actual phase value of a phaser block.	LREAL

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• There is a delay when using an external encoder. The delay is five cycles (2 cycles to read the encoder from the AKD via EtherCATEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was 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 set point to the AKD). This lag error is speed proportional (5 cycles * speed). A Phaser block can be used to compensate for this lag.

When executing, the phaser block is in one of three states: Standby, Changing phase, or Applying phase.

Standby	Entered when the Block is initialized. Exits to the State "Changing Phase" when the Phase value is changed via the MLPhaWritePhase command
Changing Phase	Entered when a new value is programmed, and exits to "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.
Applying Phase	Entered when the programmed 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.

Usage example of Phaser Functions

You can call MLPhaWritePhase function to modify the Phase value..

You can call MLPhaWriteSlope to modify the rate of change of phase, or slope, applied when the Phase value is changed.

Figure 8-104: Phaser Functions Usage

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• % MODULO_POSITION is in the equation to take into account the modulo (periodicity) of the value.