BODE.MODETIMER

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.

BODE.MODETIMER

Comments

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

-->BODE.MODE // Observe starting state of the Bode mode

-->BODE.MODE 1 // Set Bode mode to PRB

-->BODE.MODE // Observe Bode mode state is the same after 0.5 seconds

-->BODE.MODE // Observe Bode mode state is the same after 10 seconds

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

-->BODE.MODE // Observe Bode mode state has been set to zero after 1.0 seconds

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

-->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

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