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AXIS#.BODE.MODE

Description

AXIS#.BODE.MODE sets the mode of the excitation. The excitation can be set to the modes shown in the table below. AXIS#.BODE.MODE is always set to None when Ethernet communication is disconnected. The peak amplitude of the excitation is set by either AXIS#.BODE.IAMP or AXIS#.BODE.VAMP (depending on AXIS#.BODE.INJECTPOINT).

AXIS#.BODE.MODE is subject to a watchdog timer (AXIS#.BODE.MODETIMER) as follows:

  • If AXIS#.BODE.MODETIMER is 0, then AXIS#.BODE.MODE is not affected.
  • If AXIS#.BODE.MODETIMER is set to a value greater than 0, then AXIS#.BODE.MODE will be set to 0 (None) after the AXIS#.BODE.MODETIMER time milliseconds.
  • If AXIS#.BODE.MODE is a nonzero value, and you reset AXIS#.BODE.MODE to another nonzero value, you will reset the watchdog timer. This mechanism is intended to turn off the excitation signal if you lose communication with the drive.

 

AXIS#.BODE.MODE Description Comments
0 None

Turns all excitation off

Uses Pseudo Random Binary (PRB) excitation. PRB is a signal that is always +/- peak amplitude, varying only in phase.

1 PRB

PRB excitation results in a flat excitation frequency spectrum. PRB results in a high peak excitation amplitude, which can help minimize friction in a frequency response test.

PRB excitation repeats every (2^AXIS#.BODE.PRBDEPTH)/AXIS#.BODE.EXCITEGAP drive samples. This repetition can be used to reveal the effects of friction.

2 Sine Uses Sine excitation
3 Noise Uses random noise excitation. Noise is a random number generator that varies between +/- peak amplitude.
4 Offset Sets a torque offset equal to AXIS#.BODE.IAMP

Example

Code

Set AXIS1.BODE.MODE to PRB:

--> AXIS1.BODE.MODE 1

Get AXIS1.BODE.MODE (already set to PRB):

--> AXIS1.BODE.MODE 1

 

PRB excitation:

Sine excitation:

 

Noise excitation:

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read/Write

Description

Sets the mode of the excitation.

Units N/A

Range

0 to 5

Default Value

0

Data Type

Integer

Stored in Non Volatile Memory

No

 

Variants Supported

All variants are supported.

Related Topics

Using the Performance Servo Tuner

Using the Performance Servo Tuner: Advanced

Scope

Axis Settings

Parameter and Command Error Messages

AXIS#.BODE.INJECTPOINT


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