VL.ARZQ1 TO VL.ARZQ4

Description

VL.ARZQ1 sets the Q (quality factor) of the zero (numerator) of AR filter 1. This value is QZ in the approximate transfer function of the filter:

AR1(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 torqueClosedTorque 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 FP and the zeros are prewarped to FZ.

General Information

Type

R/W Parameter

Units

N/A

Range

0.1 to 5

Default Value

VL.ARZQ1: 0.707

VLARZQ2 to VLARZQ4: 0.5

Data Type

Float

See Also

VL.ARPF1 TO VL.ARPF4 , VL.ARPQ1 TO VL.ARPQ4 , VL.ARZF1 TO VL.ARZF4

Start Version

M_01-02-00-000

FieldbusClosedA 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

EtherCATClosed***EtherCAT 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

/D

VL.ARZQ1

M_01-02-00-000

/E

VL.ARZQ2

/F

VL.ARZQ3

/10

VL.ARZQ4

Related Topics

Velocity Loop