Kollmorgen AKD-N-DB Benutzerhandbuch Seite 1272

AKD Benutzerhandbuch | 25.47.2 VL.ARPQ1 TO VL.ARPQ4
Parameter Fieldbus
VL.ARPQ1 Profinet
VL.ARPQ2 Profinet
VL.ARPQ3 Profinet
VL.ARPQ4 Profinet
Fieldbus Index/Subindex
Modbus
Description
VL.ARPQ1 sets the Q (quality factor) of the pole (denominator) of AR filter 1. This value is Q
approximate 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 back-
ward Euler mapping:
s ≈ (1-z
The poles are prewarped to F
Related Topics
Geschwindigkeitsregelkreis (➜ S. 149)
1272 KOLLMORGEN | Dezember 2014
Address Attributes Signed?
2408 DWord
sercos ® III
4 Octets
2409 DWord
sercos ® III
4 Octets
2410 DWord
sercos ® III
4 Octets
2411 DWord
sercos ® III
4 Octets
Is 64 bit? Attributes Signed? Object Start Version
816 VL.ARPQ1 No
818 VL.ARPQ2
820 VL.ARPQ3
822 VL.ARPQ4
)²+s/(Q
Z
-1
)/t, where t = 62.5 µs
and the zeros are prewarped to F
P
No
32 bit No
2πF ) + 1]/ [s²/(2πF
Z Z
.
Z
M_01-03-00-000
in the
P
)² +s/(Q 2πF ) + 1]
P P P