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

Block SymbolsLicensing group: MOTION CONTROL

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/s $^{2}$ ]	Double (F64)
Deceleration	Maximal allowed deceleration [unit/s $^{2}$ ]	Double (F64)
Jerk	Maximal allowed jerk [unit/s $^{3}$ ]	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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