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.

Timing example of MC_Phasing

Timing of MC_Phasing

Example demonstrating the effect of MC_Phasing

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