VL.ARPF1 TO VL.ARPF4

Description

VL.ARPF1 sets the natural frequency of the pole (denominator) of AR filter 1. This value is F_P in the approximate transfer function of the filter:

ARx(s) = [s²/(2πF_Z)² +s/(Q_Z2πF_Z) + 1]/ [s²/(2πF_P)² +s/(Q_P2πF_P) + 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 torqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist 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 F_P and the zeros are prewarped to F_Z.

General Information

Type	R/W Parameter
Units	Hz
Range	5 to 5,000 Hz
Default Value	VL.ARPF1: 675 Hz VLARPF2 to VLARPF4: 500 Hz
Data Type	Float
See Also	VL.ARPQ1 TO VL.ARPQ4 , VL.ARZF1 TO VL.ARZF4 , VL.ARZQ1 TO VL.ARZQ4
Start Version	M_01-02-00-000

FieldbusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design	Index/Subindex		Object Start Version
EtherCATEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs COE and CANopen	3406h/1	VL.ARPF1	M_01-02-00-000
	3406h/2	VL.ARPF2
	3406h/3	VL.ARPF3
	3406h/4	VL.ARPF4