MC_PhasingRelative
This function block generates a phase shift in the master position of a slave axis relative to the existing phase shift. The master position is shifted in relation to the actual physical position. This corresponds to temporarily disengaging the coupling to the master and is used to decelerate or catch up an axis to the master. The phase shift is from the slave's point of view. The phase shift has no effect on the master itself. (MasterPos from the perspective of the SlaveAxis = PhysicalMasterPos + PhaseShiftValueSlaveAxis, the phase shift value behaves like a position offset). The phase shift is retained until another "phasing" command changes it again. Relative phase shifts are added to each other for the respective phase shift.
VAR_IN_OUT
Variable name | Data type | Description |
|---|---|---|
Slave | AXIS_REF | Reference to a logical device See also AXIS_REF. |
Master | AXIS_REF | Reference to a logical device See also AXIS_REF. |
VAR_INPUT
Variable name | Data type | Description |
|---|---|---|
Execute | BOOL | Start execution of the function block. |
PhaseShift | LREAL | Absolute phase shift of the master position of the slave axis in user units of the master |
Velocity | LREAL | Maximum speed to achieve the phase shift in user unit/s |
Acceleration | LREAL | Maximum acceleration to achieve the phase shift in user unit/s2 |
Deceleration | LREAL | Maximum deceleration to achieve the phase shift in user unit/s2 |
Jerk | LREAL | Maximum jerk to achieve the phase shift in user unit/s3 |
VAR_OUTPUT
Variable name | Data type | Description |
|---|---|---|
Done | BOOL | Function block has finished |
Busy | BOOL | Function block is active |
Active | BOOL | Function block controls the axis |
CommandAborted | BOOL | The function block was canceled by another command |
CoveredPhaseShift | LREAL | Continuously displays the phase shift covered since the starting point |
Error | BOOL | An error has occurred in the function block |
ErrorID | WORD | Error number |
