Omron Sysmac NY-series - Mc_Phasing; Variables

MC_Phasing
The MC_Phasing instruction shifts the phase of the master axis currently in synchronized control.
Instruction Name
FB/
FUN
Graphic expression ST expression
MC_Phasing Shift Master
Axis Phase
FB
BufferMode
MC_Phasing_instance
Acceler
ation
Master Master
Slave Slave
Execute
Velocity
Error
ErrorID
CommandAborted
Deceleration
Active
Jerk
MC_Phasing
PhaseShift
Done
Busy
MC_Phasing_instance (
Master :=parameter,
Slave :=parameter,
Execute :=parameter,
PhaseShift :=parameter,
V
elocity :=parameter,
Acceleration :=parameter,
Deceleration :=parameter,
Jerk :=parameter,
BufferMode :=parameter,
Done =>parameter,
Busy =>parameter,
Active =>parameter,
CommandAborted =>parameter,
Error =>parameter,
ErrorID =>parameter
);
Variables
Input Variables
Name Meaning Data type Valid range
De-
fault
Description
Execute Execute BOOL TRUE or FALSE FALS
E
The instruction is executed when
this variable changes to TRUE.
PhaseShift Phase shift
amount
LREAL Negative number,
positive number
, or 0
0 Specify the master axis phase shift
amount.
The unit is command units.
*1
Velocity Target Ve-
locity
LREAL Positive number 0 Specify the target velocity for the
shift amount.
*2
The unit is command units/s.
*1
Acceleration Accelera-
tion Rate
LREAL Non-negative number 0 Specify the acceleration rate.
The unit is command units/s
2
.
*1
Deceleration Decelera-
tion Rate
LREAL Non-negative number 0 Specify the deceleration rate.
The unit is command units/s
2
.
*1
Jerk Jerk LREAL Non-negative number 0 Specify the jerk.
The unit is command units/s
3
.
*1
3 Axis Command Instructions
3-328
NY-series Motion Control Instructions Reference Manual (W561)