Triamec TSD Series, Руководство по установке

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Plug-In Modules
Bode Measurement
In some cases it is required to do a closed loop measurement e.g. to avoid drifting of the axis. In this
case the Method property can be set to Closed Loop Bode . A closed loop bode measurement requires
stable parametrization of the position controller.
When two encoders are configured for the axis (e.g. dual-loop), the signals from both encoders will be
acquired.
It is possible to further customize the
Bode measurement. For example to measure cross coupling be-
tween two axis or to measure a signal from an external sensor read by an option module. See Help >
Developer Samples >
SWNET_TamSoftwareSamples*/BodeConfig
for more information.
4.4 Controller Tuning
The saved Bode measurements can be used to design and optimize the position and current controllers
with the
Bode Tuning editor. The following steps are required to open the saved Bode measurements in
the editor:
 To open measurements in the editor click Tune Controllers… (figure 30).
 Select one or several measurements and click 'Open'. Use Ctrl or Shift to select more than one file.
Make sure the measurement corresponds to the selected axis in the
Topology Tree .
 The Bode Tuning editor is opened and the frequency response of the current loop is displayed 3 .
4.4.1 Editor Window
The editor consists of the following items (see also figure 33):
3 If the plots are empty, the controller gain may be zero. Set the gain to a value >0 in this case.
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