0x2021 Velocity Feedback Filter¶

The measured velocity signal from the sensor can be filtered. There are three different types of filtering between which the user can choose:

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 a discrete domain using Euler's forward difference discretization method, i.e. s=1/T*(1-z^-1).

The 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

Disabled	0
1st order low pass	1
2nd order low pass Butterworth	2
3rd order low pass Butterworth	3

readwrite

Name

Index:Sub

Type

Bit Size

Min Data

Max Data

Default Data

Unit

Access

PDO Mapping

Cutoff Frequency

0x2021:2

UDINT

readwrite