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
Torque 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.
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
| Fieldbus A 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
|
Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO PDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. Mappable |
|---|---|---|---|---|---|---|---|---|
| EtherCAT ***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 |
AXIS1.VL.ARPQ1 | 0x5011 | 0x14 | UDINT | 1000:1 | - | RW | False |
| AXIS1.VL.ARPQ2 | 0x5011 | 0x15 | UDINT | 1000:1 | - | RW | False | |
| AXIS1.VL.ARPQ3 | 0x5011 | 0x16 | UDINT | 1000:1 | - | RW | False | |
| AXIS1.VL.ARPQ4 | 0x5011 | 0x17 | UDINT | 1000:1 | - | RW | False | |
| AXIS2.VL.ARPQ1 | 0x5111 | 0x14 | UDINT | 1000:1 | - | RW | False |
