AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
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
.
Kollmorgen™ | March 30, 2012 450
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