MC_Phasing

Usage

This function block:

performs a master position phase shift for the slave axis
provides a way to smoothly apply a master offset instead of writing values directly to the Master Offset Parameter 1002.
is commonly used along 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 but has the additional feature of setting the velocity, acceleration, deceleration, and jerkIn physics, jerk is the rate of change of acceleration; more precisely, the derivative of acceleration with respect to time motion parameters.

Description

The MC_Phasing function block performs a master position phase shift for a slave axis. 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 JerkIn physics, jerk is the rate of change of acceleration; more precisely, the derivative of acceleration with respect to time values. The difference is that the interpolated command delta is not commanded to the axis but is, instead, added to the Slave axis’s Master Offset. This will shift the Master axis’s position as viewed by the Slave axis, causing a change in the Slave axis’s physical position. This will only affect 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.

MC_Phasing

Figure 7-153: MC_Phasing

This function block starts a motion-related action and therefore stores data for calculations and error checking. Please see Calling Function Blocks Multiple Times in the Same Cycle if you are using a dual-core controller.

Arguments

For more detail on how inputs and outputs work, refer to PLCopen Function Blocks - General Rules

Input

Execute	Description	Requests to queue the phase shift
	Data type	BOOL
	Range	0, 1
	Unit	N/A
	Default	—
Master	Description	Name of a declared instance of the AXIS_REF library function. For more details,About Axis Name and Number)
	Data type	AXIS_REF
	Range	[1,256]
	Unit	N/A
	Default	—
Slave	Description	AXIS_REF AXIS_NUM is the slave axis number
	Data type	AXIS_REF
	Range	[1,256]
	Unit	N/A
	Default	—
PhaseShift	Description	Amount of phase shift
	Data type	LREAL
	Range	—
	Unit	User unit
	Default	—
Velocity	Description	Velocity setpointSetpoint is the target value that an automatic control system, for example PID controller, will aim to reach
	Data type	LREAL
	Range	—
	Unit	User unit/sec
	Default	—
Acceleration	Description	Trapezoidal: Acceleration rate S-curve: Maximum acceleration
	Data type	LREAL
	Range	—
	Unit	User unit/sec²
	Default	—
Deceleration	Description	Trapezoidal: Deceleration rate S-curve: Unused
	Data type	LREAL
	Range	—
	Unit	User unit/sec²
	Default	—
Jerk	Description	Trapezoidal: 0 S-curve: Constant jerk
	Data type	LREAL
	Range	—
	Unit	User unit/sec³
	Default	—
BufferMode	Description	abort buffer blend to acrive blend to next blend to low velocity blend to high velocity See table in Buffer Modes
	Data type	SINT
	Range	[0,5]
	Unit	N/A
	Default	—

Output

Done	Description	Indicates the phase shift has been completely applied
	Data type	BOOL
Busy	Description	High from the moment the Execute input is one-shot to the time the move is ended
	Data type	BOOL
Active	Description	Indicates this phase shift is the active phase shift
	Data type	BOOL
CommandAborted	Description	Indicates the move was aborted
	Data type	BOOL
Error	Description	Indicates an invalid input was specified or the move was terminated due to an error
	Data type	BOOL
ErrorID	Description	Indicates the error if Error output is set to TRUE See table in PLCopen Function Block ErrorID Output
	Data type	INT

Example

Structured Text

(* 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 );

See also how this function is used in the Hole punch project here.

Ladder Diagram

MC_Phasing: LD example

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