VL.ARZQ1 TO VL.ARZQ4

Description

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

AR1(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 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 F_P and the zeros are prewarped to F_Z.

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

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	Index/Subindex		Object Start Version
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	3406h/D	VL.ARZQ1	M_01-02-00-000
	3406h/E	VL.ARZQ2
	3406h/F	VL.ARZQ3
	3406h/10	VL.ARZQ4