Kollmorgen AKD-N-DB Benutzerhandbuch Seite 1276

AKD Benutzerhandbuch | 25.47.4 VL.ARZF1 TO VL.ARZF4
Parameter Fieldbus
VL.ARZF1 Profinet
VL.ARZF2 Profinet
VL.ARZF3 Profinet
VL.ARZF4 Profinet
Fieldbus Index/Subindex
Modbus
Description
VL.ARZF1 sets the natural frequency of the zero (numerator) of AR filter 1. This value is F
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:
-1
s ≈ (1-z )/t, where t = 62.5 µs
The poles are prewarped to F
Related Topics
Geschwindigkeitsregelkreis (➜ S. 149)
1276 KOLLMORGEN | Dezember 2014
Address Attributes Signed?
2416 DWord
sercos ® III
4 Octets
2417 DWord
sercos ® III
4 Octets
2418 DWord
sercos ® III
4 Octets
2419 DWord
sercos ® III
4 Octets
Is 64 bit? Attributes Signed? Object Start Version
832 VL.ARZF1 No
834 VL.ARZF2
836 VL.ARZF3
838 VL.ARZF4
)² +s/(Q
Z
and the zeros are prewarped to F
P
No
M_01-03-00-000
32 bit No
2πF ) + 1]/ [s²/(2πF
Z Z
.
Z
in the
Z
)² +s/(Q 2πF ) + 1]
P P P