Delta D25886 User Manual Page 118

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4. Motion Control Instructions
DVP-MC operating manual 4-77
4.5.7. MC_Phasing
API
Controller
70
MC_Phasing
Phase shift
10MC11T
Explanation of the instruction
The instruction is applied to adjust the phase difference between master and slave axis. When the two axes
have established the master-slave relation, master axis can be added by one virtual phase through execution
of this instruction to impact the slave axis. “MC_Phasing” can be executed only when the two axes have
established the relation
Explanation of input and output parameter of the instruction:
Parameter
name
Explanation
Data
type
Available
device
Slave The node address of slave axis UINT Constant, D
Master The node address of master axis 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 master axis.
Actual phase shift quantity = PhaseShift*( pulse number/
turn) / 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
Acceleration
As "MC_Phasing" is executed, adjust the acceleration of
phase shift.
Unit: unit/second2, the parameter is always positive.
REAL Constant, D
Deceleration
As "MC_Phasing" is executed, adjust the deceleration of
phase shift.
Unit: unit/second, the parameter is always positive.
REAL Constant, D
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