Application Frequency Response Functions

The Application Frequency Response API lets you trigger frequency responses in Automation1 Studio and do stability analysis on frequency responses that you collect. These AeroScript functions run on the Automation1-iSMC (the Automation1 Intelligent Software-Based Machine Controller). But they are handled through a connected Automation1-MDK (the Automation1 Machine & Motion Development Kit) Studio application. Thus, you must connect Automation1 Studio to the controller before you use these functions.

Tip: By default, Automation1 Studio and Automation1 MachineApps try to register for Application Message and Application Frequency Response callbacks. The first application that registers will get the callbacks. The next application that tries to register will get an error. You can change the default behavior of Automation1 Studio in Settings. You can change the default behavior of a MachineApp in the MachineApps workspace in Automation1 Studio.

Frequency Response

Automation1 Studio has a Frequency Response utility that you can use to analyze the characteristics of the servo loop and its mechanical system.

For information about how frequency responses are measured, see the Frequency Response Module documentation on the Axes Category page.

While Automation1 Studio gives you an interface where you can easily measure frequency responses, the AppFrequencyResponse* functions let you measure multiple responses in succession. Then you can save them as frequency response files to make a streamlined workflow. The API supplies functions that you can use to run each of the supported loop input types:

MultisinePlus loop input type - Use the AppFrequencyResponseTriggerMultisinePlus() function.
Sinusoid loop input type - Use the AppFrequencyResponseTriggerSinusoid() function.
White Noise loop input type - Use the AppFrequencyResponseTriggerWhiteNoise() function.
Multisine loop input type - Use the AppFrequencyResponseTriggerMultisine() function.

Each Frequency Response must run on a different, physical axis.

There are a number of configurations that you can do to change the behavior of the transmissions. Use the $mdkFilePath argument to specify the location and name of the output file on the client MDK machine. Relative paths are supported and are relative to the Automation1 folder in your Documents folder. To save to an absolute path outside of the MDK folder, toggle the Allow Saving to and Reading from Absolute Paths setting to On in the Frequency Response settings in Automation1 Studio. Network and controller paths are not supported. Use the $frequencyResponseFileType argument to specify the type of file to save. Supported file types include Automation1 Frequency Response, CSV, and JSON.

Application Frequency Response Function Overloads

function AppFrequencyResponseTriggerMultisinePlus($axis as axis, $mdkFilePath as string, $startFrequency as real, $endFrequency as real, $numPoints as integer, $maxCurrentPercentage as real, $measurementType as TuningMeasurementType, $travelDistance as real, $travelVelocity as real)

Triggers a MultisinePlus frequency response transmission on the specified axis.

Arguments

$axis The axis on which to trigger the response.

$mdkFilePath The file name and relative path that specifies where the frequency response data will be saved in the MDK documents folder.

$startFrequency The starting frequency of the transmission, in Hz.

$endFrequency The ending frequency of the transmission, in Hz.

$numPoints The number of frequency points to include in the disturbance.

$maxCurrentPercentage Percentage of maximum current to be transmitted to the axis in the range (0, 100].

$measurementType The underlying control loop used to perform the frequency response.

$travelDistance The distance to move during the frequency response. Specify a value of 0.0 for this argument and $travelVelocity to disable motion.

$travelVelocity The velocity to move with during the frequency response. Specify a value of 0.0 for this argument and $travelDistance to disable motion.