VL.ARZF1 TO VL.ARZF4

Description

VL.ARZF1 sets the natural frequency of the zero (numerator) of AR filter 1. This value is FZ in the approximate transfer function of the filter:

ARx(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

Hz

Range

5 to 5,000 Hz

Default Value

VL.ARZF1: 5000 Hz

VLARZF2 to VLARZF4: 500 Hz

Data Type

Float

See Also

VL.ARPF1 TO VL.ARPF4,VL.ARPQ1 TO VL.ARPQ4, VL.ARZQ1 TO VL.ARZQ4

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.

Ethernet CoE and CANopen CANopen
Index/Subindex Object Start Version

3406h/9

VL.ARZF1

M_01-02-00-000

3406h/A

VL.ARZF2

3406h/B

VL.ARZF3

3406h/C

VL.ARZF4

PROFINET and Sercos® III
Parameter Fieldbus Address Attributes Signed?
VL.ARZF1 PROFINET

2416

DWord No
Sercos® III 4 Octets
VL.ARZF2 PROFINET 2417 DWord
Sercos® III 4 Octets
VL.ARZF3 PROFINET 2418 DWord
Sercos® III 4 Octets
VL.ARZF4 PROFINET 2419 DWord
Sercos® III 4 Octets
EtherNet/IP
Parameter Instance Data Size Data Type
VL.ARZF1 417 4 Byte Float
VL.ARZF2 418
VL.ARZF3 419
VL.ARZF4 420
Modbus
Parameter   Register Address Is 64 bit? Attributes Signed? Object Start Version
VL.ARZF1 832 No 32 bit No M_01-03-00-000
VL.ARZF2 834
VL.ARZF3 836
VL.ARZF4 838

Related Topics

"Velocity Loop"