ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference User Manual
Page 288
Order Parameter
1
k
1
= 1 - β
2
α
α
β
−
−
=
1
1
2
k
3
k
3
= 0
4
k
4
= 0
For a single pole,
p
s
s
+
⋅
parameters are
pT
e
−
=
=
β
α
,
0
.
Example:
A filter consists of one second-order block and one first-order block. The second-order
block is a notch filter with a 300-Hz notch frequency and a damping of 0.14. The sample
time is 360 microseconds. The discrete equivalent of the filter is parameterized by:
k1 = 0.3372, k2 = 0.4573, k3 = -0.7277 and k4 = 0.5222.
The second block is a simple pole with a 400-Hz frequency. It may be represented by:
k1 = 0.1341, k2 = 0, k3 = 0 and k4 = 0.
The KV parameter vector should be programmed as follows:
Parameter Value
Description
KV[0] 100
KV[1]
12
Last index used
KV[2]
16
First block, non-scheduled
KV[3]
IQ25(0.3372)
Parameter 1 (k1)
KV[4]
IQ25 (0.4573)
Parameter 2 (k2)
KV[5]
IQ25 (-0.7277)
Parameter 3 (k3)
KV[6]
IQ25 (0.5222)
Parameter 4 (k4)
KV[7]
16
Second block, non-scheduled
KV[8]
IQ25 (0.1341)
Parameter 1 (k1)
KV[9]
0
Parameter 2 (k2)
KV[10]
0
Parameter 3 (k3)
KV[11]
0
Parameter 4 (k4)
The value of KV[N] parameters for N = 12…47 is not important.
Above, IQ25(x) simply means
25
(2
)
round
x
.
Be aware that the KV[N] manual programming is not required because the Composer
program performs it manually.
SimplIQ for Steppers Application Note
Filters
MAN-STECR (Ver. 1.1)
89