Plug-In Modules
Controller Tuning
fied values.
Revert
: This button is used to reset the parameters to the actual drive-configuration.
Compare
: Press and hold this button to show the transfer functions of the actual drive-configu-
ration. This can be used to compare modified parameters with the actual drive setup.
5.
View
:
Reset Zoom
can be used to reset zoom and pan operations.
Checking
Wrap Phase
reduces the phase range into [-360,0]° in the Bode plot. It has no effect in
the Nyquist plot.
6.
Bode
/
Nyquist
: In the top right corner, the display mode of the frequency response can be se-
lected:
Bode
: The amplitude response and the phase response of the axis are plotted. The signal colors
match to transfer functions as following (see also figure 34).
Red: calculated open loop frequency response based on the measurement and the controller
parameters
Blue: controller transfer function
Green: calculated closed loop frequency response based on the measurement and the con-
troller parameters
Nyquist
: The red curve shows the open loop frequency response in the complex plane calculated
based on the measurement and the controller parameters.
7.
Cursor
: A cursor is shown together with a label at the top left corner of the graph. The label dis-
plays the frequency, gain and phase at the cross-hair location. To select a different signal, the
cross-hair has to be dragged to the new signal. At the beginning, the cursor might be hidden at
the boundaries of the graph.
8.
Legend
: The first three legend items show the colors for controller (
Gr
), closed (
Gclosed
) and
open (
Gopen
) loop curves. For each loaded measurement, a legend item is generated, showing
the file name and the curve colors. Hovering over the legend items will highlight
Gopen
and
Gclosed
loop curves from the respective measurement. If many files are loaded, the legend will
wrap. In this case the size of the legend frame may be adjusted by dragging the upper border or
the vertical scroll-bar at the right can be used.
You can add and remove measurements via the legend.
Remove a measurement by clicking on the
X
button which fades in when hovering over the leg-
end item.
Add measurements using the
+
button on the right side of the legend. In the
Open Bode Plot(s)
dialog set the radio button either to
Append
in order to add the measurement to the loaded
measurements, or
Replace
to only load the new measurement (figure 35). The same dialog is
shown when repeatedly using the
Tune Controllers…
button in the
Module View
tab.
ServoDrive-SetupGuide_EP018
2022-08-25
39
/
83
Figure 34: Signal colors according to transfer functions in the control loop.
