Drive type simulation (antr.simu.*)

For the 'Simulation' drive type (see the parameter 'kenngr.antr_typ' Drive type (P-AXIS-00020)), the time response of the axis can be simulated by a filter whose parameters are described in the sections below.

The filter transmit function is called:

Here, D (attenuation) and ω₀ (natural frequency) are the transmit function parameters.

The transmit response of the overall system results from the transmit response of the closed control loop consisting of axis simulation and position controller.

In addition, the command values calculated by the position controller can be delayed by an adjustable number of interpolator cycles in order to simulate control path dead time.