| ASCII - Command | FILTMODE | |||
| Syntax Transmit | FILTMODE [Data] | |||
| Syntax Receive | FILTMODE <Data> | Available in | ||
| Type | Variable rw | MMI | No | |
| ASCII Format | Integer8 | CANBus Object Number | 353C (hex) | |
| DIM | - | PROFIBUS PNU | 1660 (dec) IND = 1 (dec) | |
| Range | 0 ... 2 | DPR | 60 (dec) | |
| Default | 1 | |||
| Opmode | All | Data Type Bus/DPR | Integer8 | |
| Drive State | Disabled + Reset (Coldstart) | Weighting | ||
| Start Firmware | 1.21 | |||
| Configuration | Yes | Last Change of this Object | 2.13 | |
| Function Group | filter | EEPROM | Yes | |
| Short Description | Smith Predictor | |||
Description
| The Smith Predictor estimates the current, which will settle in 62,5 ms, to compensate the delay time of the servo drive. (fs = 8 kHz). A new motor model with electrical motor time constant is used. Te = L / R. The algorithm is switched on by FILTMODE 2 . KC sets the predictor activity (KC = 1 >>> 100 %, KC = 0,3 >>> 30 %) To execute the algorithm the following motor parameter have to be saved in the drive: MRS Phase-Phase resistor of the winding ML Phase-Phase inductivity of the winding in mH. With predictor the current controller bandwith can be set up to 2,5 kHz (fs = 8 kHz). If the predictor is switched on the CTUNE default value is 1,8 kHz. Usual the current controller gain MLGQ can be increased by 50 %. The smith predictor is switched of with value 0 or 1 |