AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
6.33.1 VL.ARPF1 TO VL.ARPF4
General Information
Type R/W Parameter
Description
Sets the natural frequency of the pole (denominator) of anti-resonance (AR)
filters 1, 2, 3, and 4; 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.ARPQ1 TO VL.ARPQ4 , VL.ARZF1 TO VL.ARZF4 , Sets the Q of the zero
(numerator) of anti-resonance filter #1; active in opmodes 1 (velocity) and 2 (posi-
tion) only.
Start Ver-
sion
M_01-02-00-000
Fieldbus Index/Subindex
Object Start
Version
EtherCAT COE and CAN-
open
3406h/1 VL.ARPF1
3406h/2 VL.ARPF2
3406h/3 VL.ARPF3
3406h/4 VL.ARPF4
M_01-02-00-
000
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus
808 VL.ARPF1
No 32 bit No M_01-03-00-000
810 VL.ARPF2
812 VL.ARPF3
814 VL.ARPF4
Description
VL.ARPF1 sets the natural frequency of the pole (denominator) of AR filter 1. This value is F
P
in the approximate transfer function of the filter:
ARx(s) = [s²/(2πF
Z
)² +s/(Q
Z
2Ï€F
Z
) + 1]/ [s²/(2πF
P
)² +s/(Q
P
2Ï€F
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:
449 Kollmorgenâ„¢ | March 30, 2012