BODE.MODE

Description

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

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

  • If BODE.MODETIMER is 0, then BODE.MODE is not affected.
  • If BODE.MODETIMER is set to a value greater than 0, then BODE.MODE will be set to 0 (None) after the BODE.MODETIMER time milliseconds.
  • If BODE.MODE is a nonzero value, and you reset 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.
BODE.MODE Description Comments

0

None

Turns all excitation off

1

PRB

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

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^BODE.PRBDEPTH) / 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 BODE.IAMP

Example

Set BODE.MODE to PRB:

-->BODE.MODE 1

Get BODE.MODE (already set to PRB):

-->BODE.MODE 1

PRB excitation:

Sine excitation:

 

Noise excitation:

General Information

Type

R/W Parameter

Units

N/A

Range

0 to 4

Default Value

0

Data Type

Integer

Start Version

M_01-00-00-000

Variants Supported

Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes*
AKD EtherNet/IP Yes
AKD PROFINET Yes
AKD Sercos® III Yes
AKD-N Yes
AKD-C No

*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.

Fieldbus Information

If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type. For information on SynqNet parameters see SynqNet Supported Parameters.

PROFINET and Sercos® III
Fieldbus Address Attributes Signed?

PROFINET

2023 Byte No
Sercos® III 2 Octets
EtherNet/IP
Instance Data Size Data Type
24 1 Byte Integer
Modbus
Register Address Is 64 bit? Attributes Signed? Object Start Version

46

No 8 bit No M_01-03-00-000

Related Topics

Using the Performance Servo Tuner

Using the Performance Servo Tuner: Advanced

Scope

Axis Settings

F126 n126

Error: Invalid Bode plot mode for this function.

BODE.INJECTPOINTBODE.VAMP