BODE.MODE
General Information
Type R/W Parameter
Description Sets the mode of the excitation.
Units N/A
Range 0 to 4
Default Value 0
Data Type Integer
See Also BODE.INJECTPOINTBODE.VAMP
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
Modbus 46 M_01-03-00-000
Description
BODE.MODE sets the mode of the excitation.. The excitation can be set to the modes shown in the table below.
BODE.MODE is always set to None when Ethernet communication is disconnected. The peak amplitude of the
excitation is set by either BODE.IAMP or BODE.VAMP (depending on BODE.INJECTPOINT).
BODE.MODE is subject to a watchdog timer (BODE.MODETIMER). If BODE.MODETIMER is 0, then
BODE.MODE is not affected. If BODE.MODETIMER is set to a value greater than 0, then BODE.MODE will be
set to 0 (None) after the BODE.MODETIMER time milliseconds. If you reset BODE.MODE to a non-zero value
while it is already a non-zero value, this will reset the watchdog timer. This mechanism is intended to turn off the
excitation signal if you lose communication with the drive.
BODE.MODE Description Comments
0 None Turns all excitation off
1 PRB
Uses Pseudo Random Binary (PRB) excitation. PRB is a
signal that is always +/- peak amplitude, varying only in
phase.
PRB excitation results in a flat excitation frequency spec-
trum. PRB results in a high peak excitation amplitude,
which can help minimize friction in a frequency response
test.
PRB excitation repeats every (2^BODE.PRBDEPTH) /
BODE.EXCITEGAP drive samples. This repetition can be
used to reveal the effects of friction.
2 Sine Uses Sine excitation
3 Noise
Uses random noise excitation. Noise is a random number
generator that varies between +/- peak amplitude.
4 Offset
Sets a torque offset equal to BODE.IAMP
Example
Set BODE.MODE to PRB:
-->BODE.MODE 1
Get BODE.MODE (already set to PRB):
-->BODE.MODE 1
PRB excitation:
AKD User Guide | BODE Parameters
Kollmorgen | December 2010 297
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