defines the parameters of the PRB excitation. The
PRB is
used as an on board noise generator for identification purposes.
Syntax:
PRBPARAM <Type> <Amp> <Injection point> <Update> <Length> <Current cmnd hold>
<Type> selects between PRB signal
types. 127 , 511 are Pseudu Random Binary
(PRB)
signals with a cycle of 127 and 511 noise points respectively.
Type=2 is
a square wave. For a given recording length type 127 will repeat itself
4 times
more enabling better averaging. PRB 511 has a more dense frequency
spectrum.
Units: n/a.
Range: 2 , 127, 511.
Default: 127.
<Amp> specifies the amplitude of
the
PRB excitation.
Units: 0.1% of the maximum value at the injection point.
Range: 0 to 1000.
Default: 50 (equals to 5%).
<Injection point> specifies the
injection
point, which is the point where the PRB is summed to the original
signal. This
parameter is a string variable, preceded by a double-quote.
Units: n/a.
Range: "ICMD ,"VF , "VCMD
"ICMD- the PRB is summed to the current command.
"VCMD - the PRB is summed to the velocity command.
"VF - the PRB is summed to the input of the velocity command
filter
(see VF command).
Default: "ICMD.
<Update> specifies the PRB
update
time period.
Units: record time ratio at PRBMODE=1.
0. 5 millisecond units when PRBMODE=2.
Range: 1 to 100.
Default: 1.
<Length> specifies the number of
PRB points (relevant when PRBMODE=1).
Units: record points.
Range: 1 to 1024.
Default: 1024.
<Current cmnd
hold> specifies whether to hold the current command constant
between
successive record points
(PRBMODE=1) or successive PRB updates (PRBMODE=2).
Units: n/a.
Range: 0 - do not hold, 1 - hold.
Default: 0.
Type: Variable (R/W) Range: see above
Units: see above Default: see above
Opmodes: all Drive Status: en/dis EEPROM: no