Plug-In Modules
Bode Measurement
4.3 Bode Measurement
The Bode measurement allows to acquire the frequency response of the axis. This measurement is re-
quired for
Bode
tuning and therefore has to be executed first.
4.3.1 Preparation:
Warning
Warning
The
Bode
measurement causes the axis to move. Therefore a safe environment and setup
is required and the drive has to be configured correctly.
The following parameters must be set correctly. An incorrect parametrization could influence the mea-
surement results or damage the motor. See also section 5.2 on how to configure these parameters.
Axes[].Parameters.Motor.Type
Axes[].Parameters.Motor.InvertDirection
Axes[].Parameters.Motor.PolePairs
Axes[].Parameters.Motor.EncoderCountsPerMotorRevolution
Axes[].Parameters.Motor.PeakCurrent
Axes[].Parameters.Motor.NominalCurrent
Axes[].Parameters.PositionController.Encoders[].Type
Axes[].Parameters.PositionController.Encoders[].InvertDirection
Axes[].Parameters.PositionController.Encoders[].Pitch
Axes[].Parameters.PositionController.OutputLimit
Axes[].Parameters.Commutation.
…
Axes[].Parameters.CurrentController.OutputLimit
General.Parameters.EncoderTopology
General.Parameters.DcBusVoltageUpperLimit
General.Parameters.DcBusVoltageLowerLimit
Important
Important
Make sure that the axis is moving freely during the measurement. If the axis is touching
an obstacle or an end stop, the measurement will not reflect the correct behavior of the
axis.
To avoid moving against an end stop e.g. if the direction of the axis is vertical, a soft material like
ServoDrive-SetupGuide_EP018
2022-08-25
33
/
83
Figure 30: Bode Tuning module.
