0x2021 Velocity feedback filter
Measured velocity signal from the sensor can be filtered. There is only one type of filtering that the user can choose:
1st order low pass filter with formula G(s)=1/(1+sT), where T=1/(2*pi*f),
The filter is implemented in discrete domain using Euler's forward difference discretization method, i.e. s=1/T*(1-z^-1).
The filter is enabled by setting the filter type parameter to 1, and disabled by setting it to 0. Parameter cutoff frequency is set in [Hz].
| Name |
Index:Sub |
Type |
Bit Size |
Options |
Unit |
Access |
PDO Mapping |
| Type |
0x2021:1 |
USINT |
8 |
| Disabled |
0 |
| 1st order low pass |
1 |
|
|
readwrite |
|
| Name |
Index:Sub |
Type |
Bit Size |
Min Data |
Max Data |
Default Data |
Unit |
Access |
PDO Mapping |
| Cutoff frequency |
0x2021:2 |
UDINT |
32 |
5 |
2000 |
500 |
Hz |
readwrite |
|