Plug-In Modules
Bode Measurement
citement to the start of the acquisition (default 0.1s).
Output Maximum
: This parameter defines the maximum allowed amplitude of the voltage signal.
The default value is half of the output limit according register
Axes[].Parameters.CurrentCon-
troller.OutputLimit
.
ActualCurrentQ Maximum
: This parameter defines the maximum allowed amplitude of the current.
The default value is half of the nominal current of the motor according register
Axes[].Parameters.-
Motor.NominalCurrent
. The value is limited by
Axes[].Parameters.PositionController.OutputLimit
Position Maximum
: This parameter defines the maximum allowed amplitude of the position. The
default value is 20 times the encoder pitch according register
Axes[].Parameters.PositionController-
.Encoders[].Pitch
.
Spacing
: Defines if the range between
Min Frequency
and
Max Frequency
is sampled
Logarithmi-
c
ally or
Linear
ly (default
Logarithmic
).
Method
:
Open Loop Bode
or
Closed Loop Bode
can be selected.
Closed Loop Bode
requires a sta-
ble setting for the position controller and the current controller (default
Open Loop Bode
).
Warning
Warning
The three parameters
Output Maximum
,
ActualCurrentQ Maximum
and
Position Maxi-
mum
are used to deduce the amplitude of the harmonic excitation of the axis. This pa-
rameters must be set with caution, as too big an excitation can damage the axis. It is rec-
ommended to start with small values for the amplitudes (especially for
ActualCurrentQ
Maximum
) and to increase the values carefully until a sufficient signal to noise ratio is
reached.
A Bode measurement can generate loud noise also in frequencies that are not perceived
by the human ear. Wear hearing protection and keep animal companions away.
4.3.3 Measurement
The following controls are available for the execution of the measurement:
Start
: When the 'Start' button is pressed, the measurement starts.
Stop
: The measurement can be aborted with the 'Stop' button.
Exit
: Close the Bode measurement window.
Start the measurement by pressing
Start
. During the measurement the amplitude of the output signal
is adapted in such a way that amplitudes of the states (voltage, current and position) are as big as possi-
ble but do not exceed the specified maximum.
Once the measurement is done, the
Bode Measurement Result
window is opened (Figure 32) which al-
lows to examine the quality of the signals.
ServoDrive-SetupGuide_EP018
2022-08-25
35
/
83
