LSIS XGT Series - Phase Compensation (Mc_Phasing)

Chapter 6 Motion Function Blocks
6-79
6.4.6 Phase compensation (MC_Phasing)
Motion Function Block
MC
_Phasing
MasterMaster
Slave
Done BOOL
UINT
UINT
UINT
BOOL
Execute
LREAL PhaseShift
Busy BOOL
CommandAborted
BOOL
Error
BOOL
ErrorID WORD
Active BOOL
LREAL
Velocity
LREAL Acceleration
LREAL
Deceleration
LREAL Jerk
Slave
UINT
CoveredPhaseShift LREAL
Input-Output
UINT Master
Set the main axis. (1~32: real/virtual axis, 33~36: virtual axis, 1001~1002:
encoder)
UINT
Slave
Set the serve axis. (1~32: real/virtual axis, 33~36: virtual axis)
Input
BOOL
Execute
Give a phase compensation command to the relevant axis in the rising Edge
LREAL
PhaseShift
Specify the main axis compensation amount.
LREAL
Velocity
Specify the phase compensation velocity. [u/s]
LREAL
Acceleration
Specify the acceleration. [u/s
2
]
LREAL
Deceleration
Specify the deceleration. [u/s
2
]
LREAL
Jerk
Specify the change rate of acceleration/deceleration. [u/s
3
]
Output
BOOL
Done
Indicate whether to reach the specified phase compensation distance.
BOOL
Busy
Indicate that the execution of motion function block is not completed.
BOOL
Active
Indicate that the current motion function block is controlling the relevant axis.
BOOL
CommandAborted
Indicate that the current motion function block is interrupted while it is running.
BOOL
Error
Indicate whether an error occurs or not.
WORD
ErrorID
Output the number of error occurred while motion function block is running.
LREAL CoveredPhaseShift
Continuously output the compensation amount reflected while the phase
compensation is running