Description
BODE.MODETIMER sets the watchdog timer for the excitation. This watchdog is used to automatically turn off the excitation of the system if communication is lost. It is highly recommended that you use the watchdog for any excitation measurements. The WorkBench Performance Servo Tuner and Bode tool automatically use these values, requiring no action from you.
If the BODE.MODETIMER is a nonzero value, the Bode watchdog is enabled. BODE.MODE will be set to 0 (None) after the BODE.MODETIMER value elapses. To reset the watchdog timer, reset BODE.MODE to a nonzero value.
| BODE.MODETIMER | Comments |
|---|---|
|
0 |
BODE.MODE is left at the value you set it to. |
|
> 0 |
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 also 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. |
Example
Disable BODE.MODETIMER:
-->BODE.MODETIMER // Set to 0 to disable the watchdog
0
-->BODE.MODE // Observe starting state of the Bode mode
0
-->BODE.MODE 1 // Set Bode mode to PRB
-->BODE.MODE // Observe Bode mode state is the same after 0.5 seconds
1
-->BODE.MODE // Observe Bode mode state is the same after 10 seconds
1
Enable BODE.MODETIMER:
-->BODE.MODETIMER 1000 // Set watchdog to 1 second
-->BODE.MODE 1 // Set Bode mode to PRB
-->BODE.MODE // Observe Bode mode state is the same after 0.5 seconds
1
-->BODE.MODE // Observe Bode mode state has been set to zero after 1.0 seconds
0
Enable and reenable BODE.MODETIMER:
-->BODE.MODETIMER 2500 // Set watchdog to 2.5 seconds
-->BODE.MODE 1 // Set Bode mode to PRB
-->BODE.MODE // Observe Bode mode state is the same after 1.5 seconds
1
-->BODE.MODE 1 // Set Bode mode to PRB, resetting the watchdog timer to the original 2.5 second value set above.
-->BODE.MODE // Observe Bode mode state is the same after 3.0 seconds after the original enabling of BODE.MODE 1
-->BODE.MODE // Observe Bode mode state has been set to zero after 4.0 seconds after the original enabling of BODE.MODE
0
General Information
|
Type |
R/W Parameter |
|
Units |
ms |
|
Range |
0 to 268,435,456 |
|
Default Value |
0 |
|
Data Type |
Integer |
|
Start Version |
M_1-03-00-000 |
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.
| Fieldbus | Address | Attributes | Signed? |
|---|---|---|---|
|
PROFINET |
2024 | DWord | No |
| Sercos® III | 4 Octets |
| Instance | Data Size | Data Type |
|---|---|---|
| 25 | 4 Byte | Integer |
| Register Address | Is 64 bit? | Attributes | Signed? | Object Start Version |
|---|---|---|---|---|
|
48 |
No | 32 bit | No | M_01-03-00-000 |
Related Topics
Using the Performance Servo Tuner
Using the Performance Servo Tuner: Advanced
