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Instructions for Taking a Bode Plot for Tuning Analysis
Taking a bode plot in Workbench for AKD tuning analysis.
1. Put the drive in Torque mode
2. Leave the excitation level set to “Automatic”
3. Set the Performance Servo Tuner mode to “Bode Plot”
4. Set the measurement to “Plant”
5. Select Plot
In the Plots tab, select “Plot Plant”, and uncheck all other boxes.
6. Make sure to get a good Plant Plot
It may be necessary to manually set the excitation current level in order to obtain a good plant. See below for examples of good and bad plants. To overcome friction, increase the excitation current level. To get more data points, increase the number of FFT Points to 8192 and the Number Points to 100,000.
7. Save and email the bode plot
Email the bode plot csv file to someone else for evaluation and tuning assistance, or save a picture and csv file as a backup for future reference.
8. Import tuning values
The bode plot csv file includes both the bode plot data and the tuning settings. You can import a bode plot csv file into Workbench and then write the tuning to the drive.
Warning: For safety, disable the drive prior to writing the tuning values to the drive. Tuning setting will be written to the drive one parameter at a time, so you can end up with mixed filter settings during the write process.
Bad Plant Plots:
Good Plant Plots: