Setup and Reference Guide - Kollmorgen

VF
A vector variable that defines the filter at the output of the Advanced Pole-Placement velocity controller
(COMPMODE = 3). The vector defined by this variable includes five integers that represent the polynomial
coefficients, and two shift parameters, one that scales each polynomial. If this variable is changed, a REFRESH
command is required.
Filter structure: (b0 + b1*z-1 + b2*z-2) / (1 + a1*z-1 +a2*z-2).
Firmware Versions: 3.1.0 and later Syntax: VF [b0] [b1] [b2] [bshift] [a1] [a2] [ashift]
Opmodes: 0,1,4,8 Range: [aN], [bN] 32767 to -32768
[ashift]], [bshift] 0 to 32767
Type: vector variable (R/W) Units: N/A
Default: 1 0 0 0 0 0 0 Drive Status: EN/DIS
EEPROM: Yes Example: VF 100 200 300 4 500 600 7
VFI
A vector variable that defines the filter at the input of the Advanced Pole-Placement velocity controller
(COMPMODE = 3). The vector defined by this variable includes five integers that represent the polynomial
coefficients, and two shift parameters, one that scales each polynomial. If this variable is changed, a REFRESH
command is required.
Filter structure: (b0 + b1*z-1 + b2*z-2) / (1 + a1*z-1 +a2*z-2).
Firmware Versions: 3.2.0 and later Syntax: VFI [b0] [b1] [b2] [b_shr] [a1] [a2] [a_shr]
Opmodes: 0,1,4,8 Range: [aN], [bN] 32767 to -32768
[a_shr], [[b_shr] 0 to 32767
Type: vector variable (R/W) Units: N/A
Default: 1 0 0 0 0 0 0 Drive Status: EN/DIS
EEPROM: Yes Example: VF 100 200 300 4 500 600 7
VH
A vector variable that defines the H (feedback path) polynomial of the Advanced Pole-Placement velocity
controller (COMPMODE = 3). The vector defined by this variable includes four integers that represent the
polynomial coefficients, and four shift parameters, one that scales each polynomial. If this variable is changed,
a REFRESH command is required.
Prior to firmware version 2.1.0, this command mnemonic was “H”.
Firmware Versions: 3.2.0 and later Syntax: VH [h0] [h0shift] [h1] [h1shift] [h3] [h3shift]
Opmodes: 0,1,4,8 Range: [hN] = -2,147,483,647 to 2,147,483,647
[hNshift]= 0 to 32767
Type: vector variable (R/W) Units: N/A
Default: 0 (all parameters) Drive Status: EN/DIS
EEPROM: Yes Example: VF 100 200 300 4 500 600 7
96