0x2021 Velocity feedback filter

Measured velocity signal from the sensor can be filtered. There are three different types of filtering that user can choose between:
1st order low pass filter with formula G(s)=1/(1+sT), where T=1/(2*pi*f),
2nd order low pass Butterworth filter,
3rd order low pass Butterworth filter.
Filters are implemented in discrete domain using Euler's forward difference discretization method, i.e. s=1/T*(1-z^-1).

Filter can be used by setting the filter type parameter to 1,2 or 3 (depending on the order of the filter). Value 0 disables the filter. 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
2nd order low pass Butterworth 2
3rd order low pass Butterworth 3
Hz readwrite
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Cutoff frequency 0x2021:2 UDINT 32 0 Hz readwrite