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				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