MC_Phasing (FB)¶

FUNCTION_BLOCK MC_Phasing

MC_Phasing provides a constant phase shift between master and slave axis.

MC_Phasing will abort any ongoing movement of the slave axis. In this respect, it differs from the function blocks MC_PhasingAbsolute and MC_PhasingRelative defined by the PLCopen for Motion Control 2.0 standard. These function blocks don’t abort an ongoing slave movement but superimpose the phase shift on top of e.g. an ongoing MC_CamIn or MC_GearIn movement. To achieve this behavior with MC_Phasing, please use an additional virtual axis as the slave axis of MC_Phasing and use this virtual slave as the master for MC_CamIn or MC_GearIn. Alternatively, MC_MoveSuperimposed can be used on the master axis of an MC_CamIn or MC_GearIn movement.

Important

Phase, Velocity, Acceleration and Deceleration of a phase shift are controlled by the function block.

Note

MC_Phasing should be called after the motion FB controlling the Master axis has been called. Otherwise, the Slave axis will lag behind the Master axis.

Timing example of MC_Phasing

../../../../_images/Phasing1.png — Timing of `MC_Phasing`¶

Example demonstrating the effect of MC_Phasing

../../../../_images/Phasing2.png — Demonstrating the effect of `MC_Phasing`¶

InOut:

Scope	Name	Type	Initial	Comment
Inout	`Master`	AXIS_REF_SM3		Reference to master axis
Inout	`Slave`	AXIS_REF_SM3		Reference to slave axis
Input	`Execute`	`BOOL`	FALSE	Rising edge: Starts the execution of the function block.
	`PhaseShift`	`LREAL`	0	Phase difference between master and slave (slave - master) [u]
	`Velocity`	`LREAL`	0	Maximum velocity for reaching phase difference [u/s]
	`Acceleration`	`LREAL`	0	Maximum acceleration for reaching phase difference [u/s²]
	`Deceleration`	`LREAL`	0	Maximum deceleration for reaching phase difference [u/s²]
	`Jerk`	`LREAL`		maximum jerk to reach phase difference [u/s^3]
Output	`Done`	`BOOL`	FALSE	`TRUE`: Commanded phasing has been reached.
	`Busy`	`BOOL`	FALSE	`TRUE`: Execution of the function block has not been finished.
	`CommandAborted`	`BOOL`	FALSE	`TRUE`: Command has been aborted by another command.
	`Error`	`BOOL`	FALSE	`TRUE`: Error has occurred within the function block.
	`ErrorID`	`SMC_ERROR`	0	Error identification