Kollmorgen AKD Basic

AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
6.33.3 VL.ARTYPE1 TO VL.ARTYPE4
General Information
Type NV Parameter
Description
Indicates the method used to calculate BiQuad coefficients; active in opmodes
1 (velocity) and 2 (position) only.
Units N/A
Range 0
Default
Value
0
Data Type U8
See Also N/A
Start Ver-
sion
M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CAN-
open
3405h
/1
VL.ARTYPE1
3405h
/2
VL.A-
RTYPE2
3405h
/3
VL.A-
RTYPE3
3405h
/4
VL.A-
RTYPE4
M_01-00-00-000
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus
824 VL.ARTYPE1
No 8 bit No M_01-03-00-000
826 VL.ARTYPE2
828 VL.ARTYPE3
830 VL.ARTYPE4
Description
These parameters indicate the method used to calculate the biquad coefficients VL.ARPFx,
VL.ARPQx, VL.ARZFx, and VL.ARZQx. A value of 0 indicates that the coefficients are set
directly. This parameter has no effect on the filter itself, but is only used to determine the orig-
inal design parameters. Currently, only the value of 0 is supported.
453 Kollmorgen™ | March 30, 2012