Motion Library - Phaser

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• • See Example: Phaser Functions for an example of Phaser functions.
  • See Pipe Block Descriptions for a description of the this pipe block and its parameters.

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 EtherCAT ***EtherCAT 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 these states:

State	Description
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.
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.

Example: Phaser Functions

• 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 7-100: Phaser Functions Usage

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