AXIS#.VL.ARPQ1 TO AXIS#.VL.ARPQ4

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

EtherCAT CoE and CANopen

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

EtherNet/IP

Name

ID

Hex

Data Type

Access

Units

AXIS1.VL.ARPQ1

6004

1774

Signed32

Read/Write

-

AXIS2.VL.ARPQ1

71540

1177

Signed32

Read/Write

-

AXIS1.VL.ARPQ2

6005

1775

Signed32

Read/Write

-

AXIS2.VL.ARPQ2

71541

1177

Signed32

Read/Write

-

AXIS1.VL.ARPQ3

6006

1776

Signed32

Read/Write

-

AXIS2.VL.ARPQ3

71542

1177

Signed32

Read/Write

-

AXIS1.VL.ARPQ4

6007

1777

Signed32

Read/Write

-

AXIS2.VL.ARPQ4

71543

1177

Signed32

Read/Write

-

PROFINET

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

-