0x2027 Control input FIR filter
FIR filter (boxcar)
Depending on the mode of operation, this filter acts on the position or velocity demand values sent from the master. The sampling frequency is the same as the cycle time of the position controller (4 kHz). It can be used as an input profiler (or "shaper") to realize linear interpolation between successive commands (see documentation), or to limit the jerk of the profilers (see documentation). For masters operating at 1 kHz suggested filter order is 3.
| Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Enabled | 0x2027:1 | BOOL | 1 |
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readwrite | ||||||||
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Set to 1 to enable the control input FIR filter. |
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| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||
| Order | 0x2027:2 | UINT | 16 | 1 | 1023 | 31 | readwrite | ||||||
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The order of the FIR filter refers to the maximum number of delay elements used in the filter circuit. The order can be up to 1023 and is always rounded to the form of If the specified filter order is not already in the form of |
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