Plug-In Modules
Bode Measurement
To use the measurement with the Bode Tuning tool, the measurement has to be saved by clicking the
Save
button. The measurements are saved in a
*.csv
file.
4.3.4 Remarks
For a first recording it is recommended to use the following frequencies settings:
Max Frequency
= 24000 Hz;
Min Frequency
= 20 Hz;
Frequency Steps
≥ 300
In some cases it is required to have a higher resolution in the frequency domain, for example for axes
with critical resonances. In this case, to have a good resolution at higher frequencies but also do the
measurement in reasonable time it is recommended to do the measurement in two sessions:
Session 1:
Max Frequency
= 24000 Hz;
Min Frequency
= 200 Hz;
Frequency Steps
≥ 500
Session 2:
Max Frequency
= 200 Hz;
Min Frequency
= 20 Hz;
Frequency Steps
= 200
The dynamic behavior of a machine may change depending on the location of the axes. Therefore it is
recommended to do the measurement at several locations in the machine workspace.
Generally the quality of the measurement increases with bigger amplitudes (especially with low resolu-
tion encoders or high friction), but the restrictions of the machine must be considered when increasing
the maximum values.
Normally, the phase plot of response
X/I
should show a phase shift of about 180° at low frequencies. If
the phase shift is closer to 0°, the parameter
Axes[].Parameters.Motor.InvertDirection
might have to be
altered (see also section 5.5.1).
If the excitement of the axis varies depending on the position of the motor probably one of the follow-
ing parameters is not set correctly:
Axes[].Parameters.Motor.InvertDirection
Axes[].Parameters.Motor.PolePairs
Axes[].Parameters.Motor.EncoderCountsPerMotorRevolution
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Figure 32: Bode measurement result.
