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

5 Stability Check When BODE.MODE 5 is active, the drive monitors current command and velocity feedbacks to see if they exceed AXIS#.BODE.IFTHRESH and AXIS#.BODE.VFTHRESH to determine if the axis is stable.

6 Chirp Excitation When BODE.MODE 6 is active a chirp excitation is used from AXIS#.BODE.CHIRP.STARTFREQ to AXIS#.BODE.CHIRP.ENDFREQ. The chirp time is defined by AXIS#.BODE.CHIRP.TIME.

Example

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

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
5	Stability Check	When BODE.MODE 5 is active, the drive monitors current command and velocity feedbacks to see if they exceed AXIS#.BODE.IFTHRESH and AXIS#.BODE.VFTHRESH to determine if the axis is stable.
6	Chirp Excitation	When BODE.MODE 6 is active a chirp excitation is used from AXIS#.BODE.CHIRP.STARTFREQ to AXIS#.BODE.CHIRP.ENDFREQ. The chirp time is defined by AXIS#.BODE.CHIRP.TIME.

Action	Version	Notes
Implemented	02-00-00-000

Variants Supported

All variants are supported.

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