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 EthernetEthernet is a large, diverse family of frame-based computer networking technologies that operate at many speeds for local area networks (LANs) 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 torqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist 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