Equipments (Devices) > SCA06 > Ladder > Motion Control > Motion Control Gear > MC

Block responsible for execution of a phase difference in position between the programmed axes.

Ladder Representation

MC_PhasingRelative_block

Execution Features

Program Memory Size	78 Bytes
Data Memory Size	32 Bytes

Block Structure

Variable Type	Name	Data Type	Description
VAR_IN_OUT	Master	BYTE	Selection of operation master (0 - Fast digital inputs) (1 - CANopen) (2 - Encoder 1) (3 - Virtual Axis) (4 - Encoder 2)
VAR_IN_OUT	Slave	BYTE	Selection of operation slave (0 - Real axis) (1 - Virtual 1 axis)
VAR_INPUT	Execute	BOOL	Block enabling
	PhaseShift	REAL	Phase shift between master and slave
	Velocity	REAL	Speed [rpm]
	Acceleration	REAL	Acceleration [rpm / s]
	Deceleration	REAL	Deceleration [rpm / s]
VAR_OUTPUT	Done	BOOL	Output enabling
	Busy	BOOL	Flag indicating the block has not yet been ended
	Active	BOOL	Block flag with control on the axis
	CommandAborted	BOOL	Flag of aborted command
	Error	BOOL	Error in the execution flag
	ErrorID	WORD	Identifier of the occurred error
VAR	MC_GEARIN_INST_0	MC_GEARIN	Instance of access to block structure

Operation

When this block detects a leading edge on Execute, it checks the synchronism between master and slave and sends a command to motion the master axis in order to let it out-of-phase of the slave axis in the magnitude of PhaseShift.

When the MC_PhasingRelative block is executed, the drive does not change the current operating mode. In the execution of the block, the axis status will not change.

When Execute has FALSE value, Done remains FALSE. The Done output is activated when the block finishes the execution successfully, remaining at TRUE level until Execute receives FALSE.

If there is any error in the execution, the Error output is enabled and ErrorID displays an error code according to the table below.

Code	Description
67	Drive in the "Disabled" or "Errorstop" status.
71	P202 different from 4.
73	Drive is not in the "Synchronized Motion" status.
78	MC block not executed – Internal fault.
79	Master axis is not in synchronism.
96	MC_PhasingRelative block in execution.

Example in Ladder

MC_PhasingRelative_example01

MC_PhasingRelative_example02

MC_PhasingRelative_example03

With the position synchronism of the Real Axis with the Quick Counter through the MC_GearInPos block, and with the occurrence of an up transition in PHASING_EXECUTE, the MC_PhasingRelative block is executed and a shift of 0.05 turn is applied to the master axis, resulting in a pulse in the speed. The Done output is set while the Execute input is set.

Example in ST

The example below displays the instructions for applying the example above in the ST language.

VAR

GEARINPOS_EXECUTE, GEARINPOS_INSYNC, PHASING_EXECUTE,

PHASING_DONE : BOOL;

GEARINPOS_INST : FB_MC_GearInPos;

PHASING_INST : FB_MC_PhasingRelative;

END_VAR

GEARINPOS_INST.Execute := GEARINPOS_EXECUTE;

GEARINPOS_INST(

Master:=0,

Slave:=0,

RatioNumerator:=1,

RatioDenominator:=1,

Acceleration:=1000.0,

Deceleration:=1000.0,

BufferMode:=0);

PHASING_DONE := GEARINPOS_INST.InSync;

PHASING_INST.Execute := PHASING_EXECUTE;

PHASING_INST(

Master:=0,

Slave:=0,

PhaseShift:=LREAL#0.05,

Velocity:=GENERAL_PROFILE_VELOCITY,

Acceleration:=GENERAL_PROFILE_ACCELERATION,

Deceleration:=GENERAL_PROFILE_DECELERATION);

PHASING_DONE := PHASING_INST.Done;