VL.ARZQ1 TO VL.ARZQ4

Description

VL.ARZQ1 sets the Q (quality factor) of the zero (numerator) of AR filter 1. This value is QZ in the approximate transfer function of the filter:

AR1(s) = [s²/(2πFZ)²+s/(QZ2πFZ) + 1]/ [s²/(2πFP)² +s/(QP2πFP) + 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)

The velocity loop compensation is actually implemented as a digital discrete time system function on the DSP. The continuous time transfer function is converted to the discrete time domain by a backward Euler mapping:

s ≈ (1-z-1)/t, where t = 62.5 µs.

The poles are prewarped to FP and the zeros are prewarped to FZ.

General Information

Type

R/W Parameter

Units

N/A

Range

0.1 to 5

Default Value

VL.ARZQ1: 0.707

VLARZQ2 to VLARZQ4: 0.5

Data Type

Float

See Also

VL.ARPF1 TO VL.ARPF4, VL.ARPQ1 TO VL.ARPQ4, VL.ARZF1 TO VL.ARZF4

Start Version

M_01-02-00-000

Variants Supported

Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes*
AKD EtherNet/IP Yes
AKD PROFINET Yes
AKD Sercos® III Yes
AKD-N Yes
AKD-C No

*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.

Fieldbus Information

If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type. For information on SynqNet parameters see SynqNet Supported Parameters.

EtherCAT CoE and CANopen
Index/Subindex Object Start Version

3406h/D

VL.ARZQ1

M_01-02-00-000

3406h/E

VL.ARZQ2

3406h/F

VL.ARZQ3

3406h/10

VL.ARZQ4

PROFINET and Sercos® III
Parameter Fieldbus Address Attributes Signed?
VL.ARZQ1 PROFINET 2420 DWord No
Sercos® III 4 Octets
VL.ARZQ2 PROFINET 2421 DWord
Sercos® III 4 Octets
VL.ARZQ3 PROFINET 2422 DWord
Sercos® III 4 Octets
VL.ARZQ4 PROFINET 2423 DWord
Sercos® III 4 Octets
EtherNet/IP
Parameter Instance Data Size Data Type
VL.ARZQ1 421 4 Byte Float
VL.ARZQ2 422
VL.ARZQ3 423
VL.ARZQ4 424
Modbus
Parameter Register Address Is 64 bit? Attributes Signed? Object Start Version
VL.ARZQ1 840 No 32 bit No M_01-03-00-000
VL.ARZQ2 842
VL.ARZQ3 844
VL.ARZQ4 846

Related Topics

"Velocity Loop"