Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | 48.3 VL.ARTYPE1 TO VL.ARTYPE4
48.3 VL.ARTYPE1 TO VL.ARTYPE4
General Information
Type NV Parameter
Description
Indicates the method used to calculate BiQuad coefficients; active in opmodes
1 (velocity) and 2 (position) only.
Units N/A
Range 0
Default
Value
0
Data Type U8
See Also N/A
Start Ver-
sion
M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CANopen
/1 VL.ARTYPE1
M_01-02-00-000
/2 VL.ARTYPE2
/3 VL.ARTYPE3
/4 VL.ARTYPE4
Description
These parameters indicate the method used to calculate the biquad coefficients VL.ARPFx,
VL.ARPQx, VL.ARZFx, and VL.ARZQx. A value of 0 indicates that the coefficients are set
directly. This parameter has no effect on the filter itself, but is only used to determine the orig-
inal design parameters. Currently, only the value of 0 is supported.
Related Topics
1 Velocity Loop
48.4 VL.ARZF1 TO VL.ARZF4
General Information
Type R/W Parameter
Description
Sets the natural frequency of the zero (numerator) of anti-resonance (AR)filter 1;
active in opmodes 1 (velocity) and 2 (position) only.
Units Hz
Range 5 to 5,000 Hz
Default
Value
500 Hz
Data Type Float
See Also
VL.ARPF1 TO VL.ARPF4 (pg 450),VL.ARPQ1 TO VL.ARPQ4 (pg 451),
VL.ARZQ1 TO VL.ARZQ4 (pg 453)
Start Ver-
sion
M_01-02-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CANopen
3406h/9 VL.ARZF1
M_01-02-00-000
3406h/A VL.ARZF2
3406h/B VL.ARZF3
3406h/C VL.ARZF4
452 Kollmorgen™ | December 2012