Kollmorgen AKD Basic User Manual

AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
6.33.4 VL.ARZF1 TO VL.ARZF4
General Information
Type R/W Parameter
Description
Sets the natural frequency of the zero (numerator) of anti-resonance (AR)filter 1;
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.ARPF1 TO VL.ARPF4 ,VL.ARPQ1 TO VL.ARPQ4 , VL.ARZQ1 TO
VL.ARZQ4
Start Ver-
sion
M_01-02-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CAN-
open
3406h
/9
VL.ARZF1
3406h
/A
VL.ARZF2
3406h
/B
VL.ARZF3
3406h
/C
VL.ARZF4
M_01-02-00-000
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus
832 VL.ARZF1
No 32 bit No M_01-03-00-000
834 VL.ARZF2
836 VL.ARZF3
838 VL.ARZF4
Description
VL.ARZF1 sets the natural frequency of the zero (numerator) of AR filter 1. This value is F
Z
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:
Kollmorgen™ | March 30, 2012 454

Kollmorgen AKD Basic Specifications

General

Brand	Kollmorgen
Model	AKD Basic
Category	Controller
Language	English