CDHD Variables and Commands
VarCom Reference Manual 333
PRBPARAM
Definition PRB Generator Parameters
Type Command
Description The PRB generator enables several advanced tests on the
controlled axis. These tests include injecting sine or square
wave signals of specified frequency in addition to the current
and velocity commands. The PRB noise generator is used to
excite the system with a wide uniform spectrum signal for
identification purposes.
Syntax PRBPARAM {Signal_type} {Icmd_amp} {Vcmd_amp}
{Update_ratio}
Firmware 1.0.6
Drive status Enabled | Disabled
Range Signal_type:
0 = Not activated
1 = Pseudo random binary
2 = Sine wave
3 = Square wave
Icmd_amp = torque amplitude in [A].
Vcmd_amp = velocity amplitude in velocity units (as defined
by UNITSROTVEL or UNITSLINVEL)
Update_ratio = update ratio relative to current loop update
rate.
Default value Not Applicable
Unit Not Applicable
Non-volatile Not Applicable
See also PRBFRQ
PRBMODE
CANopen 20AFh, sub-index 1
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