Motion Library - Phaser

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

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.

Phaser Functions Usage

Phaser Functions Usage

Figure 7-104: Phaser Functions Usage


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