MC_Phasing command
MC_Phasing is used to achieve an offset of the slave axis relative to the master axis. Accordingly, a phase offset of the master axis is specified from the point of view of the slave axis and the slave axis tries to eliminate this offset by accelerating or decelerating. The motion is always executed jerk-limited at the constant set in "Jerk”. This value is valid for both "Acceleration" and "Deceleration".
If the optional parameters “Acceleration", "Deceleration” and “Jerk” are not specified or set to ≤ 0, the dynamic values are taken from the corresponding axis list.
The mechanical analogy is to release the coupling of the master and slave axes for a limited period.
With camming, this command results in a change in the "apparent" master position from the slave's point of view. With gearing, a phase offset is produced between the master and slave by commanding a superimposed motion in the slave. Therefore with gearing, MC_Phasing has the same effect as MC_MoveSuperImposed (into which it is actually converted in the control system).
The dynamic values: "Velocity", "Acceleration" and "Deceleration" refer to the change in the "apparent" master position from the point of view of the slave with camming; but with gearing, they refer to the superimposed motion of the slave axis itself.
Optionally, the program can wait for the job to end (“WaitSyn” keyword) or can assign a Job ID (“Id” keyword) for later synchronisation.
Syntax of the NC command: |
<axis_name>[ MC_Phasing Master=.. PhaseShift=.. Velocity=.. |
Block diagram of the function block in PLCopen:
Input pin | Unit |
|
Master | Logical axis number of the master axis | |
PhaseShift | [0.1 µm or 10-4 °] | |
Velocity | [1 µm/s or 10-3 °/s] | |
Acceleration | [1 mm/s2 or 1°/s2] | |
Deceleration | [1 mm/s2 or 1°/s2] | |
Jerk | [1 mm/s3 or 1°/s3] |
Programing Example
MC_Phasing command
S[MC_Phasing Master=11 PhaseShift=25 Velocity=1000 Acceleration=500 \
Deceleration=600 Jerk=20000]