4. Motion Control Instructions 4.5.7. MC_Phasing The instruction is applied to adjust the phase difference between master axis and slave axis. When the two axes have established the master-slave relation, one virtual phase is superimposed to the master axis through execution of this instruction so as to impact the slave axis. “MC_Phasing” can be executed only when the two axes have made a relationship. Explanation of the instruction Explanation of input and output parameter of the instruction:
4-90 DVP-MC operating manual API Phase shift Controller 70 MC Phasing _ 10MC11T Parameter Data Available Explanation name type device Slave The slave axis number UINT Constant, D Master The master axis number. We suggest that the master axis number should be less than the slave axis number so that the slave axis could better follow the master axis for motion. The axis number can be set in order of 1~24 from small to large. UINT Constant, D Execute The instruction is executed when "Execute" turns Off –> On. BOOL M,I,Q, constant PhaseShift The virtual position shift occurring in the master axis. Actual phase shift of master axis (Unit:
pulse) = PhaseShift*( the number of pulses / the number of turns) / modulo If this parameter is positive value, it indicates to shift toward the positive direction; If this parameter is negative value, it indicates to shift toward the negative direction. REAL Constant, D Velocity As "MC Phasing" is executed, adjust the speed of phase _ shift. Unit: unit/second, the parameter is always positive. REAL Constant, D