Danaher Motion 06/2005 PHASER
8. PHASER
The purpose of PHASER is to amplify or attenuate the master input value
before entering the cam table or before multiplying by the gear ratio.
The master - slave connection is achieved either by a cam table or through
gearing. A typical problem in camming is an offset in the master position that
has to be compensated for before translating the value with a cam table.
PHASER adds a correction to the master position. This avoids unexpected
jumps at the slave position. By immediately adding the maximum correction
value, there is a dynamically computation of the correction from zero to the
maximum value.
Slave Position
Master
Position
CAM Table
Phaser
+
Several slaves
can be connected to the same master, but the position
correction is set per slave. PHASER is a slave command and its effects do
not harm other slaves connected to the same master. Directly disconnection
of the slave (SLAVE = OFF) automatically stops PHASER.
8.1.1. Profiler
PHASER is a type of MOVE, so all the command’s rules and limitations are
imported. As an input, PHASER gets the maximum offset added or
subtracted from the master position. The offset value is equivalent to the
target position of MOVE. The rate at which the offset changes is determines
by the profiler. Similar to MOVE, the profiler is calculated according to the
slave’s motion properties (ACCELERATION, DECELERATION and JERK).
All changes in these values must be performed in the nodal context so the
slave‘s property definitions are not effected.
Comparing PHASER and MOVE:
Properties MOVE PHASER
Element Axis or group Slaved axis only
Position Target Maximum offset
Ratio factor None Translation factor between master units
and slave units
Kinematics properties All All
STARTTYPE All types All types (special relevance is
IMMEDIATE)
M-SS-005-03 Rev E 141
