Manuals/Bode.md

How to bode with TwinCat

Requierments

• PLC
• EL7XX Servodrive
• PC
• Visual Studio Code 2017
• TwinCat3
• 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.

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
3. In the TwinCat project select the following options in TcComObjects
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)
• Select: Append Dynamic Container
• Agree to all pop ups

5. Decreas the PlC cycle time to 250\mu s
6. Set NC-Motion Task to on PLC cycle
7. Disable LP Filter of encoder (for speed and or position depending on what you wnat to measure) and Download
8. 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

11. Select Bode Plot

12. Set Target in bode-Properties:

• 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

13. Adjust the settings to get the best performance out of the EL7XX
14. After that start your measurement
15. Your measurements apear under Bode Plot

Display Options

1. Select Bode Project
2. 
3. Set Aperance/View Detail Level to extended
4. Now select the individual Measurements; Under Properties you can adjust the aperance of each measurement individualy to your liking