Kollmorgen AKD-C01007-MCEC Benutzerhandbuch Seite 1148

AKD Benutzerhandbuch | 24.46.4 VL.ARZF1 TO VL.ARZF4
Fieldbus Index/Subindex
Modbus
Description
VL.ARZF1 sets the natural frequency of the zero (numerator) of AR filter 1. This value is F
imate transfer function of the filter:
ARx(s) = [s²/(2πF
The following block diagram describes the AR filter function; note that AR1 and AR2 are in the forward
path, while AR3 and AR4 are applied to feedback:
AR1, AR2, AR3, and AR4 are used in velocity and position mode, but are disabled in torque mode.
Discrete time transfer function (applies to all AR filters)
The velocity loop compensation is actually implemented as a digital discrete time system function on the
DSP. The continuous time transfer function is converted to the discrete time domain by a backward Euler
mapping:
-1
s ≈ (1-z )/t, where t = 62.5 µs
The poles are prewarped to F
Related Topics
Geschwindigkeitsregelkreis (S. 152)
Is 64 bit? Attributes Signed? Object Start Version
832 VL.ARZF1
834 VL.ARZF2
No
836 VL.ARZF3
838 VL.ARZF4
)² +s/(Q 2πF
Z Z
and the zeros are prewarped to F
P
32 bit No M_01-03-00-000
) + 1]/ [s²/(2πF )² +s/(Q
Z P
.
Z
in the approx-
Z
2πF ) + 1]
P P
KOLLMORGEN | Mai 2014 1148