Kollmorgen AKD series

AKD User Guide | BODE Parameters
BODE.MODETIMER
General Information
Type R/W Parameter
Description Sets the watchdog timer of the excitation.
Units ms
Range 0 to 268,435,456
Default Value 0
Data Type Integer
See Also BODE.MODE
Start Version M_1-03-00-000
Fieldbus Index/Subindex Object Start Version
Modbus 48 M_01-03-00-000
Description
BODE.MODETIMER sets the watchdog timer for the excitation. This watchdog is used to automatically turn off
the excitation of the system if communication is lost. It is highly recommended that you use the watchdog for any
excitation measurements. The WorkBench autotuner and Bode tool automatically use these values, requiring no
action from you.
If the BODE.MODETIMER is a nonzero value, the Bode watchdog is enabled. BODE.MODE will be set to 0
(None) after the BODE.MODETIMER value elapses. To reset the watchdog timer, reset BODE.MODE to a non-
zero value.
BODE.MODETIMER Comments
0 BODE.MODE is left at the value you set it to.
> 0
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 also results in a high peak excitation ampli-
tude, which can help minimize friction in a frequency
response test.
PRB excitation repeats every (2^BODE.PRBDEPTH)/BO-
DE.EXCITEGAP drive samples. This repetition can be
used to reveal the effects of friction.
Example
Disable BODE.MODETIMER:
-->BODE.MODETIMER //
Set to 0 to disable the watchdog
0
-->BODE.MODE // Observe starting state of the Bode mode
0
-->BODE.MODE 1 // Set Bode mode to PRB
-->BODE.MODE // Observe Bode mode state is the same after 0.5 seconds
1
-->BODE.MODE // Observe Bode mode state is the same after 10 seconds
1
300 Kollmorgen | December 2010