Kollmorgen AKD Basic

AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
6.33.2 VL.ARPQ1 TO VL.ARPQ4
General Information
Type R/W Parameter
Description
Sets the Q of the pole (denominator) of anti-resonance (AR) filter 1; active in
opmodes 1 (velocity) and 2 (position) only.
Units None
Range 0.2 to 20
Default
Value
0.5
Data Type Float
See Also
VL.ARPF1 TO VL.ARPF4 , VL.ARZF1 TO VL.ARZF4 , VL.ARZQ1 TO
VL.ARZQ4
Start Ver-
sion
M_01-02-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT
COE and
CANopen
3406h/5 VL.ARPQ1
3406h/6 VL.ARPQ2
3406h/7 VL.ARPQ3
3406h/8 VL.ARPQ4
M_01-02-00-000
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus
816 VL.ARPQ1
No 32 bit No M_01-03-00-000
818 VL.ARPQ2
820 VL.ARPQ3
822 VL.ARPQ4
Description
VL.ARPQ1 sets the Q (quality factor) of the pole (denominator) of AR filter 1. This value is Q
P
in the approximate transfer function of the filter:
ARx(s) = [s²/(2πF
Z
)²+s/(Q
Z
2πF
Z
) + 1]/ [s²/(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)
451 Kollmorgen™ | March 30, 2012