Plug-In Modules
Axis Module
mentation [7]. Use the stop button
to decouple.
9. Jog and Stop buttons:
Press the stop button
to terminate an ongoing move.
Continuous jog negative
/ positive
: Pressing this button starts a continuous move. The move
will run until another move button or the stop button
is pressed.
Jog negative
/ positive
: While pressing this button the axis moves in the desired direction.
The move will stop when the button is released.
10.
Dynamics
: These two fields can be used to reduce the dynamics of the move.
Vel.
: This field specifies the velocity used for the move relative to
Axes[].Parameters.PathPlan-
ner.VelocityMaximum.
Acc.
: This field specifies the acceleration used for the move relative to
Axes[].Parameters.Path-
Planner.AccelerationMaximum.
11.
Set Position
: Pressing
Set Position
sets the actual position to the value specified in field S.
Important
Important
If the
Activation
panel shows an
Attach
button, this button needs to be pressed in order
to enable the controls of the module. Release the button (
Detach
) to return control to
the superior control system.
Sub-Modules
Coupling Manager
: This module can be used to setup the coupling of the axis to an internal or ex-
ternal trajectory generator (e.g. master slave mode or trajectory generation by a
Tama program
).
See also the related documentation [7].
Bode Tuning
: See chapter 4.2
Bode Analysis
.
4.2 Bode Tuning
The
Bode Tuning
module is used to measure the dynamic characteristic of an axis in frequency domain
and to tune the controller based on this measurement. The following sections describe the steps re-
quired.
Find the
Bode Tuning
module in the
Axis Group
module
and open the
View
tab. The
View
tab contains
the following buttons:
Do a Bode Measurement...
opens the
Bode Measurement
application. The application allows to
configure and to execute the measurement.
Open Bode Measurement...
opens a
Bode
measurement in the
Bode Tuning
editor. The editor al-
lows to modify the controller parameter and directly visualizes the effect of the modification on the
Bode plot.
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