### PRBPARAM

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