# Drive type simulation (antr.simu.*)

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

The filter transmit function is called:

Here, D (attenuation) and ω_{0} (natural frequency) are the transmit function parameters.

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

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

## Additional information

- Numerator of sampling time constant of axis simulation (P-AXIS-00239)
- Denominator of sampling time constant of axis simulation (P-AXIS-00238)
- Numerator of attenuation of axis simulation (P-AXIS-00051)
- Denominator of attenuation of axis simulation (P-AXIS-00050)
- Numerator of natural frequency of axis simulation (P-AXIS-00062)
- Denominator of natural frequency of axis simulation (P-AXIS-00061)
- Dead time (P-AXIS-00194)
- Tool path up to zero pulse during homing simulation (P-AXIS-00161)
- Set actual position equal to command position (P-AXIS-00096)