Kollmorgen AKD Basic User Manual

AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
6.33.5 VL.ARZQ1 TO VL.ARZQ4
General Information
Type R/W Parameter
Description
Sets the Q of the zero (numerator) of anti-resonance filter #1; active in opmodes
1 (velocity) and 2 (position) only.
Units N/A
Range 0.1 to 5
Default
Value
0.5
Data Type Float
See Also
VL.ARPF1 TO VL.ARPF4 , VL.ARPQ1 TO VL.ARPQ4 , VL.ARZF1 TO
VL.ARZF4
Start Ver-
sion
M_01-02-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CAN-
open
3406h/D VL.ARZQ1
3406h/E VL.ARZQ2
3406h/F VL.ARZQ3
3406h
/10
VL.ARZQ4
M_01-02-00-000
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus
840 VL.ARZQ1
No 32 bit No M_01-03-00-000
842 VL.ARZQ2
844 VL.ARZQ3
846 VL.ARZQ4
Description
VL.ARZQ1 sets the Q (quality factor) of the zero (numerator) of AR filter 1. This value is Q
Z
in
the approximate transfer function of the filter:
AR1(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)
Kollmorgen™ | March 30, 2012 456

Kollmorgen AKD Basic Specifications

General

Brand	Kollmorgen
Model	AKD Basic
Category	Controller
Language	English