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# How to bode with TwinCat
# How to Bode with TwinCAT
## Requierments
- PLC
- EL7XX Servodrive
- PC
- Visual Studio Code 2017
- TwinCat3
- eXtended Automation Runtime (XAR)
- Remote desktop Connection
- Patience
## Requirements
- PLC
- EL7XX Servodrive
- PC
- Visual Studio Code 2017
- TwinCAT 3
- eXtended Automation Runtime (XAR)
- Remote Desktop Connection
- Patience
---
## Introduction
The goal is to get a bode plot af an **NC Axis** which is connected to the EL7XX Servodrive. This Documentation should enable you to perform a bode plot and tweek the setings for better performance.
The goal is to get a **Bode plot** of an **NC Axis** connected to the EL7XX Servodrive. This documentation should enable you to perform a Bode plot and tweak the settings for better performance.
---
## Steps
1. Setup a standard solution Procejt in TwinCat3:
- Your target axis is set up correctly
- You can jog the axis
2. Make your Target build version is 4026.67 ?? corect if not see [How to upgrade](UpgradePLC.md)
3. In the TwinCat project select the following options in TcComObjects
![image](Images/ImgBode/TcCom.png)
4. Add dynamic container for oversampling (not avaiable with EL7211)
- Under I/O -> Devices **right click on Device 1** (if your axis is mounted to device1)
![](Images/ImgBode/DynCont1.png)
- Select: **Append Dynamic Container**
- Agree to all pop ups
5. Decreas the PlC cycle time to $250\mu s$
![](Images/ImgBode/RtSettings.png)
7. Set NC-Motion Task to on PLC cycle
![](Images/ImgBode/Axis_Cycle.png)
8. Disable LP Filter of encoder (for speed and or position depending on what you wnat to measure) and Download
![](Images/ImgBode/EncSettings.png)
9. Open main visu and enable the axis (as if you want to jog it)
### Open New Bode Project
10. Open TwinCat or Visual Studio Code
![](Images/ImgBode/BodeProject.png)
11. Select Bode Plot
![](Images/ImgBode/openBodeOptions.png)
12. Set Target in bode-Properties:
### 1. Setup a Standard TwinCAT Project
- Ensure your target axis is correctly set up.
- You should be able to jog the axis.
---
### 2. Verify Target Version
Make sure your target build version is `4026.67`. If not, see [How to upgrade](UpgradePLC.md).
---
### 3. Enable `TcComObjects`
Go to your TwinCAT project and select the following options in **TcComObjects**:
<img src="Images/ImgBode/TcCom.png" alt="TcComObjects" width="600"/>
---
### 4. Add Dynamic Container for Oversampling
*(Not available with EL7211)*
- Navigate to **I/O → Devices**
- **Right-click** on *Device 1* (assuming your axis is mounted here)
<img src="Images/ImgBode/DynCont1.png" alt="Dynamic Container" width="600"/>
- Select: **Append Dynamic Container**
- Agree to all pop-ups
---
### 5. Decrease PLC Cycle Time to `250 µs`
<img src="Images/ImgBode/RtSettings.png" alt="PLC Cycle Time" width="600"/>
---
### 6. Set NC Motion Task to Use PLC Cycle
<img src="Images/ImgBode/Axis_Cycle.png" alt="NC Motion Task" width="600"/>
---
### 7. Disable Encoder LP Filter
Disable the low-pass filter for the encoder (speed and/or position, depending on your measurement focus). Then **Download** the settings.
<img src="Images/ImgBode/EncSettings.png" alt="Encoder Settings" width="600"/>
---
### 8. Enable the Axis in Main Visualisation
Open the main visualisation and enable the axis as if you were going to jog it.
---
## Open New Bode Project
### 9. Open TwinCAT or Visual Studio Code
<img src="Images/ImgBode/BodeProject.png" alt="Open Bode Project" width="600"/>
---
### 10. Select Bode Plot
<img src="Images/ImgBode/openBodeOptions.png" alt="Bode Plot Options" width="600"/>
---
### 11. Set Target in Bode Properties
- **Target ID**: Set to the TwinCAT route of your PLC
- **Axis ID**: Set to the ID of the axis in your TwinCAT project
<img src="Images/ImgBode/TargetSettings.png" alt="Target Settings" width="600"/>
---
### 12. Adjust Settings for Performance
Tune the settings to get the best performance from the EL7XX.
<img src="Images/ImgBode/BodePltSettings.png" alt="Bode Settings" width="600"/>
---
### 13. Start Measurement
<img src="Images/ImgBode/StartMeasurement.png" alt="Start Measurement" width="600"/>
---
### 14. View Your Measurements
Measurements will appear under **Bode Plot**.
<img src="Images/ImgBode/MeasurementsPlace.png" alt="Measurement Location" width="600"/>
---
## Display Options
### 1. Navigate to the Bode Project
- Click on the project to open display options
<img src="Images/ImgBode/ExtendedViewNav.png" alt="Extended View Navigation" width="600"/>
---
### 2. Enable Extended View
- Set **Appearance / View Detail Level** to **Extended**
<img src="Images/ImgBode/ExtendedView.png" alt="Extended View" width="600"/>
---
### 3. Customize Measurement Appearance
Select individual measurements and adjust their appearance in the **Properties** panel.
<img src="Images/ImgBode/AperanceGraph.png" alt="Appearance Settings" width="600"/>
- Set Target ID to the TwinCat Route for your PLC
- Axis ID to the ID in the TwinCat project of which you want to make the bode plot
![](Images/ImgBode/TargetSettings.png)
13. Adjust the settings to get the best performance out of the EL7XX
![](Images/ImgBode/BodePltSettings.png)
14. After that start your measurement
![](Images/ImgBode/StartMeasurement.png)
15. Your measurements apear under Bode Plot
![](Images/ImgBode/MeasurementsPlace.png)
### Display Options
1. Select Bode Project
2. ![](Images/ImgBode/ExtendedViewNav.png)
3. Set Aperance/View Detail Level to extended
![](Images/ImgBode/ExtendedView.png)
4. Now select the individual Measurements; Under Properties you can adjust the aperance of each measurement individualy to your liking
![](Images/ImgBode/AperanceGraph.png)