BQMODE
ASCII - Command | BQMODE |
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Syntax Transmit | BQMODE [Data] |
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Syntax Receive | BQMODE <Data> | Available in |
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Type | Variable rw | MMI | No | |
ASCII Format | Integer8 | CANBus Object Number | 3666 (hex) | |
DIM | - | PROFIBUS PNU | 1958 (dec) IND = 0000xxxx (bin) | |
Range | 0, 1, 2, 3 | DPR | 358 (dec) | |
Default | 1 |
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Opmode | All | Data Type Bus/DPR | Integer8 | |
Drive State | - | Weightning |
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Start Firmware | 4.00 |
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Configuration | No | Revision | 1.4 | |
Function Group | Velocity Controller | EEPROM | Yes | |
Short Description | Select Compensation Filter Mode for the Velocity Control | |||
Description
The BQMODE is used to set the compensation filter mode for the velocity control. There are following three possible settings:
- BQMODE = 0 : without any filter after the PI velocity controller
- BQMODE = 1 : using PID-T2 compensation filter
- BQMODE = 2 : using Bi-quad filter
- BQMODE = 3 : reserved
By default, the BQMODE is set to PID-T2 filter mode to reduce the high-frequency noise included in the torque current, which are determined by parameters GVFILT and GVT2.
If the two-mass servo drive system has mechanical resonance (torsional oscillation) in the frequency range between 100 Hz and 500 Hz, Bi-quad filter can be used to suppress this kind of resonance and to enhance the bandwidth of the velocity control loop (See BQFC, BQFR, BQDC and BQDR).