ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 283)

Very high-order control filters can be used with the SimplIQ drive.
The parameters of all filters are programmed into the vector KV[N], as follows:
Filter Parameters Maximum Order
Speed controller high-order filter KV[0]…KV[21]
Position controller high-order filter KV[22]…KV[43]
Analog position sensor filter KV[44]…KV[55] Order 4 (2 blocks)
Analog reference to speed controller KV[56]…KV[67] Order 4 (2 blocks
Table 7-1: KV[N] Filter Parameters
The high-order filter parameters of the speed controller are as follows:
Parameter Description Value Range
KV[0] Is filter active? 0: Filter not active and bypassed. All
other filter parameters ignored.
100: Filter is active.
KV[1] Last index in KV[N] used
for this filter 1+5n, where 1 ≤ n ≤ 9 is the number of
used second-order links. The
maximum resulting filter order is 18.
KV[2]…KV[6] Parameters of first link
KV[7]…KV[11] Parameters of second link
KV[12]…KV[16] Parameters of third link
KV[17]…KV[21] Parameters of fourth link
Table 7-2: Speed Controller High-order Filter Parameters
The high-order filter parameters of the position controller are as follows:
Parameter Description Value Range
KV[22] Is filter active? 0: Filter not active and bypassed.
All other filter parameters ignored.
100: Filter is active.
KV[23] Last index in KV[N] used
for this filter 23+5n, where 1 ≤ n ≤ 5 is the number of
used second-order links. The
maximum resulting filter order is 10.
KV[24]…KV[28] Parameters of first link
KV[29]…KV[33] Parameters of second link
KV[34]…KV[37] Parameters of third link
KV[38]…KV[43] Parameters of fourth link
Table 7-3: Position Controller High-order Filter Parameters
SimplIQ for Steppers Application Note Filters
MAN-STECR (Ver. 1.1)
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