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 ω₀ (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.