| ASCII - Command | MRESBW | |||
| Syntax Transmit | MRESBW [Data] | |||
| Syntax Receive | MRESBW <Data> | Available in | ||
| Type | Variable rw | MMI | Yes | |
| ASCII Format | Integer16 | CANBus Object Number | 35A0 (hex) | |
| DIM | Hz | PROFIBUS PNU | 1760 (dec) IND = 1 (dec) | |
| Range | 50 .. 2000 | DPR | 160 (dec) | |
| Default | 300 | |||
| Opmode | All | Data Type Bus/DPR | Integer16 | |
| Drive State | - | Weighting | ||
| Start Firmware | 1.0 | |||
| Configuration | No | Last Change of this Object | 1.0 | |
| Function Group | feedback | EEPROM | Yes | |
| Short Description | Resolver Bandwidth | |||
Description
| MRESBW is a tuning parameter that sets the bandwidth (in Hz) of the inner control loop. A high value (>800 Hz) results in a fast (low phase lag) and noisy velocity signal. A low value (<400 Hz) results in a slow (higher phase lag) and smooth velocity signal. The default value of 600 Hz is a compromise between phase lag and noise. The phase lag can be reduced by providing the acceleration feed forward signal (VLO = 1 ). With a wide bandwidth, the drive responds more rapidly to control loop deviations and there is a smaller following error (reduced lag). A very wide bandwidth only makes sense with low moments of inertia, low KP, and very high acceleration values. A narrower bandwidth produces a filter effect. The rotational velocity and positional control are smoother (encoder equivalent output is quieter as well). For the sensorless drive, the Luenberger Observer is used as the adaptive controller. Therefore, the parameter MRESBW corresponds to the bandwidth of the adaptive controller. It is normally set between 25 and 100 Hz. |