Kollmorgen AKD PDMM series, Руководство пользователя

Страница: 454 / 513

AKD PDMM User Guide | 48.6 VL.BUSFF
Description
VL.ARZQ1 sets the Q (quality factor) of the zero (numerator) of AR filter 1. This value is Q
Z
in
the approximate transfer function of the filter:
AR1( s ) = [ s ²/(2πF
Z
)²+ s /(Q
Z
2πF
Z
) + 1]/ [ s ²/(2πF
P
)² + s /(Q
P
2πF
P
) + 1]
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 func-
tion on the DSP. The continuous time transfer function is converted to the discrete time domain
by a backward Euler mapping:
s
≈ (1-z
-1
)/t, where t = 62.5 µs.
The poles are prewarped to F
P
and the zeros are prewarped to F
Z
.
Related Topics
1 Velocity Loop
48.6 VL.BUSFF
General Information
Type R/O Parameter
Description
Displays the velocity loop feedforward value injected by the field-bus; active in
opmodes 1 (velocity) and 2 (position) only.
Units
Depends on or
Rotary: rpm, rps, deg/s, (custom units)/s, rad/s
Linear: counts/s, mm/s, µm/s, (custom units)/s
Range 0.0 to VL.LIMITP (pg 466)
Default
Value
0.0
Data Type Float
See Also VL.FF (pg 459), VL.KBUSFF (pg 460)
Start Ver-
sion
M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CAN-
open
/0 M_01-00-00-000
Description
454 Kollmorgen™ | December 2012