### 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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