3.4 KiB
How to Bode with TwinCAT
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 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 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.
3. Enable TcComObjects
Go to your TwinCAT project and select the following options in TcComObjects:
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)
- Select: Append Dynamic Container
- Agree to all pop-ups
5. Decrease PLC Cycle Time to 250 µs
6. Set NC Motion Task to Use PLC Cycle
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.
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
10. Select Bode Plot
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
12. Adjust Settings for Performance
Tune the settings to get the best performance from the EL7XX.
13. Start Measurement
14. View Your Measurements
Measurements will appear under Bode Plot.
Display Options
1. Navigate to the Bode Project
- Click on the project to open display options
2. Enable Extended View
- Set Appearance / View Detail Level to Extended
3. Customize Measurement Appearance
Select individual measurements and adjust their appearance in the Properties panel.
