MC_PhasingRelative, MCP_PhasingRelative – Phase shift in synchronized motion (relative coordinates)

Block SymbolsLicensing group: MOTION CONTROL
PIC PIC

Function Description

The MC_PhasingRelative and MCP_PhasingRelative blocks offer the same functionality, the only difference is that some of the inputs are available as parameters in the MCP_ version of the block.

The MC_PhasingRelative introduces an additional phase shift in master-slave relation defined by an electronic cam (MC_CamIn) or electronic gear (MC_GearIn). The functionality of this command is very similar to MC_MoveSuperimposed (additive motion from 0 to PhaseShift position with respect to maximum velocity acceleration and jerk). The only difference is that the additive position/velocity/acceleration is added to master axis reference position in the functional dependence defined by a cam or gear ratio for the computation of slave motion instead of its direct summation with master axis movement. The relative value of final phase shift with respect to previous value is specified by PhaseShift parameter. Note: The motion command is analogous to rotation of a mechanical cam by angle PhaseShift

Inputs

uMaster

Master axis reference

Reference

uSlave

Slave axis reference

Reference

Execute

The block is activated on rising edge

Bool

PhaseShift

Requested phase shift (distance on master axis) for cam

Double (F64)

Velocity

Maximal allowed velocity [unit/s]

Double (F64)

Acceleration

Maximal allowed acceleration [unit/s2]

Double (F64)

Deceleration

Maximal allowed deceleration [unit/s2]

Double (F64)

Jerk

Maximal allowed jerk [unit/s3]

Double (F64)

BufferMode

Buffering mode

Long (I32)

1 ....

Aborting

2 ....

Buffered

Outputs

yMaster

Master axis reference

Reference

ySlave

Slave axis reference

Reference

Done

Algorithm finished

Bool

CommandAborted

Algorithm was aborted

Bool

Busy

Algorithm not finished yet

Bool

Active

The block is controlling the axis

Bool

Error

Error occurred

Bool

ErrorID

Result of the last operation

Error

i ....

REXYGEN general error

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