Kollmorgen AKD-N-DB Benutzerhandbuch Seite 1278

AKD Benutzerhandbuch | 25.47.5 VL.ARZQ1 TO VL.ARZQ4
Parameter Fieldbus
VL.ARZQ1 Profinet
VL.ARZQ2 Profinet
VL.ARZQ3 Profinet
VL.ARZQ4 Profinet
Fieldbus Index/Subindex
Modbus
Description
VL.ARZQ1 sets the Q (quality factor) of the zero (numerator) of AR filter 1. This value is Q
approximate transfer function of the filter:
AR1(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)
1278 KOLLMORGEN | Dezember 2014
Address Attributes Signed?
2420 DWord
sercos ® III
4 Octets
2421 DWord
sercos ® III
4 Octets
2422 DWord
sercos ® III
4 Octets
2423 DWord
sercos ® III
4 Octets
Is 64 bit? Attributes Signed? Object Start Version
840 VL.ARZQ1 No
842 VL.ARZQ2
844 VL.ARZQ3
846 VL.ARZQ4
)²+s/(Q
Z
-1
)/t, where t = 62.5 µs.
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