Description of the Software Modules and Parameters
Parameter manual b maXX BM5800
Document No.: 5.16029.03
445
of 814
3
Filter for the acceleration feedforward
This filter filters the acceleration feedforward. With this filter at oscillatory systems the
feedforward can be adapted, so that the system shows the requested behavior. The set
-
tings of the filter are made via the parameters Z18.84– to Z18.87–. The calculation of the
filter constants are made via the command 2 of parameter Z18.92–. The filter is activated
via the bit 18 of Z18.9–.
Filter for speed set value
The speed set value can be filtered via a PT
1
filter as well as via a biquad filter. The bi-
quad filter can be used if a specified resonance frequency is not supposed to be excited.
A plain smoothing (
Z18.33–) can be used at the acceleration feedforward via the entire
speed set value (Z18.9–, bit 1), which should approximately accord to the additional time
constant of the speed closed loop.
The calculation of the filter constants of the biquad filter is made via the command 3 of
the parameter
Z18.92–. The filter is activated via the bit 20 of Z18.9–, otherwise the PT
1
element is effective.
3.7.2.5 Parameter overview
Functional block: Filter [29]
Number Name Type Min Max Default Value Unit Factor
Read only
Storage
DS Support
Cyclic Write
Axis-independent
29.1 Command UINT 0 0xffff 0 1:1 X
29.2 Status UINT 0 2 0 1:1 X
29.6 Input value FLOAT -5000000000 5000000000 0.0 1:1 X
29.7 Output Value FLOAT -5000000000 5000000000 0.0 1:1 X
29.8 Filter Order UINT 0 7 1 1:1 X
29.9 Coefficient a0 FLOAT -1000000 1000000 1.0 1:1 X
29.10 Coefficient a1 FLOAT -1000000 1000000 0.0 1:1 X
29.11 Coefficient a2 FLOAT -1000000 1000000 0.0 1:1 X
29.12 Coefficient a3 FLOAT -1000000 1000000 0.0 1:1 X
29.13 Coefficient a4 FLOAT -1000000 1000000 0.0 1:1 X
29.14 Coefficient a5 FLOAT -1000000 1000000 0.0 1:1 X
29.15 Coefficient a6 FLOAT -1000000 1000000 0.0 1:1 X
29.16 Coefficient a7 FLOAT -1000000 1000000 0.0 1:1 X
29.17 Coefficient b1 FLOAT -1000000 1000000 0.0 1:1 X
29.18 Coefficient b2 FLOAT -1000000 1000000 0.0 1:1 X
29.19 Coefficient b3 FLOAT -1000000 1000000 0.0 1:1 X
29.20 Coefficient b4 FLOAT -1000000 1000000 0.0 1:1 X
29.21 Coefficient b5 FLOAT -1000000 1000000 0.0 1:1 X
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