Description
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.
General Information
|
Type |
R/W Parameter |
|
Units |
None |
|
Range |
0.2 to 20 |
|
Default Value |
VL.ARPQ1: 0.707 VLARPQ2 to VLARPQ4: 0.5 |
|
Data Type |
Float |
|
See Also |
VL.ARPF1 TO VL.ARPF4 , VL.ARZF1 TO VL.ARZF4 , 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.
| Fieldbus | Index/Subindex | Object Start Version | |
|---|---|---|---|
|
EtherCAT COE and CANopen |
3406h/5 |
M_01-02-00-000 | |
|
3406h/6 |
|||
|
3406h/7 |
|||
|
3406h/8 |
|||
| Parameter |
Fieldbus |
Address |
Attributes | Signed? |
|---|---|---|---|---|
| VL.ARPQ1 | Profinet |
2408 |
DWord | No |
| sercos® III | 4 Octets | |||
| VL.ARPQ2 | Profinet | 2409 | DWord | |
| sercos® III | 4 Octets | |||
| VL.ARPQ3 | Profinet | 2410 | DWord | |
| sercos® III | 4 Octets | |||
| VL.ARPQ4 | Profinet | 2411 | DWord | |
| sercos® III | 4 Octets |
|
Fieldbus |
Parameter |
Instance |
Data Size | Data Type |
|---|---|---|---|---|
|
EtherNet/IP |
VL.ARPQ1 |
409 |
4 Byte | Float |
|
VL.ARPQ2 |
410 |
|||
|
VL.ARPQ3 |
411 |
|||
|
VL.ARPQ4 |
412 |
|
Fieldbus |
Index/Subindex |
Is 64 bit? | Attributes | Signed? |
Object Start Version |
|
|---|---|---|---|---|---|---|
|
Modbus |
816 |
VL.ARPQ1 |
No | 32 bit | No |
M_01-03-00-000 |
|
818 |
VL.ARPQ2 |
|||||
|
820 |
VL.ARPQ3 |
|||||
|
822 |
VL.ARPQ4 |
|||||
Related Topics
