AXIS#.BODE.MODETIMER

Description

AXIS#.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 AXIS#.BODE.MODETIMER is a nonzero value, the Bode watchdog is enabled. AXIS#.BODE.MODE will be set to 0 (None) after the AXIS#.BODE.MODETIMER value elapses. To reset the watchdog timer, reset AXIS#.BODE.MODE to a nonzero value.

AXIS#.BODE.MODE	Comments
0	AXIS#.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, varyin 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^AXIS#.BODE.PRBDEPTH)/AXIS#.BODE.EXCITEGAP drive samples. This repetition can be used to reveal the effects of friction.

AXIS#.BODE.MODE

Comments

AXIS#.BODE.MODE is left at the value you set it to.

Uses pseudo random binary (PRB) excitation. PRB is a signal that is always +/- peak amplitude, varyin 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^AXIS#.BODE.PRBDEPTH)/AXIS#.BODE.EXCITEGAP drive samples. This repetition can be used to reveal the effects of friction.

Example

Disable AXIS1.BODE.MODETIMER:

-->AXIS1.BODE.MODETIMER  // Set to 0 to disable the watchdog
0
-->AXIS1.BODE.MODE  // Observe starting state of the Bode mode
0
-->AXIS1.BODE.MODE 1 // Set Bode mode to PRB
-->AXIS1.BODE.MODE // Observe Bode mode state is the same after 0.5 seconds
1
-->AXIS1.BODE.MODE  // Observe Bode mode state is the same after 10 seconds
1

Enable AXIS1.BODE.MODETIMER:

-->AXIS1.BODE.MODETIMER 1000 // Set watchdog to 1 second
-->AXIS1.BODE.MODE 1 // Set Bode mode to PRB
-->AXIS1.BODE.MODE // Observe Bode mode state is the same after 0.5 seconds
1
-->AXIS1.BODE.MODE // Observe Bode mode state has been set to zero after 1.0 seconds
0

Enable and reenable AXIS1.BODE.MODETIMER:

-->AXIS1.BODE.MODETIMER 2500 // Set watchdog to 2.5 seconds
-->AXIS1.BODE.MODE 1 // Set Bode mode to PRB
-->AXIS1.BODE.MODE // Observe Bode mode state is the same after 1.5 seconds
1
-->AXIS1.BODE.MODE 1 // Set Bode mode to PRB, resetting the watchdog timer to the original 2.5 second value set above.
-->AXIS1.BODE.MODE // Observe Bode mode state is the same after 3.0 seconds after the original enabling of AXIS1.BODE.MODE 1
-->AXIS1.BODE.MODE // Observe Bode mode state has been set to zero after 4.0 seconds after the original enabling of AXIS1.BODE.MODE
0

Versions

Action	Version	Notes
Implemented	02-00-00-000

General Information

Type	Read/Write
Units	ms
Range	0 to 134,217,728
Default Value	0
Data Type	Integer
Stored in Non-Volatile Memory	No

Variants Supported

All variants are supported.