Description
AXIS#.VL.ARPQ1 sets the Q (quality factor) of the pole (denominator) of AR filter 1. This value is QP 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.
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-00-00-000 |
General Information
|
Type |
Read/Write |
|
Units |
None |
|
Range |
0.2 to 20 |
|
Default Value |
AXIS#.VL.ARPQ1: 0.707 VLARPQ2 to VLARPQ4: 0.5 |
|
Data Type |
Float |
|
Stored in Non-Volatile Memory |
Yes |
Variants Supported
All variants are supported.
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.VL.ARPQ1 |
5011h |
14h |
Unsigned32 |
- |
1000:1 |
Read/Write |
No |
|
AXIS1.VL.ARPQ2 |
5011h |
15h |
Unsigned32 |
- |
1000:1 |
Read/Write |
No |
|
AXIS1.VL.ARPQ3 |
5011h |
16h |
Unsigned32 |
- |
1000:1 |
Read/Write |
No |
|
AXIS1.VL.ARPQ4 |
5011h |
17h |
Unsigned32 |
- |
1000:1 |
Read/Write |
No |
|
AXIS2.VL.ARPQ1 |
5111h |
14h |
Unsigned32 |
- |
1000:1 |
Read/Write |
No |
|
AXIS2.VL.ARPQ2 |
5111h |
15h |
Unsigned32 |
- |
1000:1 |
Read/Write |
No |
|
AXIS2.VL.ARPQ3 |
5111h |
16h |
Unsigned32 |
- |
1000:1 |
Read/Write |
No |
|
AXIS2.VL.ARPQ4 |
5111h |
17h |
Unsigned32 |
- |
1000:1 |
Read/Write |
No |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
6004 |
1 |
6004 (0x1774) |
AXIS1.VL.ARPQ1 |
Signed32 |
Read/Write |
Yes |
|
71540 |
2 |
6004 (0x1774) |
AXIS2.VL.ARPQ1 |
Signed32 |
Read/Write |
Yes |
|
6005 |
1 |
6005 (0x1775) |
AXIS1.VL.ARPQ2 |
Signed32 |
Read/Write |
Yes |
|
71541 |
2 |
6005 (0x1775) |
AXIS2.VL.ARPQ2 |
Signed32 |
Read/Write |
Yes |
|
6006 |
1 |
6006 (0x1776) |
AXIS1.VL.ARPQ3 |
Signed32 |
Read/Write |
Yes |
|
71542 |
2 |
6006 (0x1776) |
AXIS2.VL.ARPQ3 |
Signed32 |
Read/Write |
Yes |
|
6007 |
1 |
6007 (0x1777) |
AXIS1.VL.ARPQ4 |
Signed32 |
Read/Write |
Yes |
|
71543 |
2 |
6007 (0x1777) |
AXIS2.VL.ARPQ4 |
Signed32 |
Read/Write |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.VL.ARPQ1 |
6004 |
Float |
Read/Write |
- |
|
AXIS#.VL.ARPQ2 |
6005 |
Float |
Read/Write |
- |
|
AXIS#.VL.ARPQ3 |
6006 |
Float |
Read/Write |
- |
|
AXIS#.VL.ARPQ4 |
6007 |
Float |
Read/Write |
- |
