Kollmorgen AKD series User Manual

AKD User Guide | 14 Tuning Your System
To specify a biquad filter, you must specify the frequency and Q for both the zero and pole on anti resonance filter
3. To do this, see the following example using the terminal commands that sets:
l Filter Type = Biquad
l Zero frequency = 100 Hz
l Zero Q = 0.7
l Pole frequency = 1000 Hz
l Pole Q = 0.8
VL.ARTYPE3 0
VL.ARZF3 100
VL.ARZQ3 0.7
VL.ARPF3 1000
VL.ARPQ3 0.8
14.4.6.1 Biquad Calculations
In the s-domain, the linear biquad response is calculated:
176 Kollmorgen | December 2010

Kollmorgen AKD series Specifications

General

Continuous Current	Up to 180 A
Control Modes	Position, Velocity, Torque
Communication Interfaces	EtherCAT, CANopen, Modbus TCP/IP
Feedback Options	Resolver, Encoder
Safety Features	Safe Torque Off (STO), Safe Stop 1 (SS1)
Protection Features	Overvoltage, Undervoltage, Overcurrent, Short Circuit, Overtemperature
Switching Frequency	8 kHz, 16 kHz
Ambient Temperature	0°C to 40°C
Operating Temperature	0 - 40 °C (derating may apply)
Humidity	5% to 95% non-condensing