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). The default value is suited for masters operating at 1 kHz.

Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Enabled	0x2027:1	BOOL	1	Disabled 0 Enabled 1				readwrite
Set to 1 to enable the control input FIR filter.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Order	0x2027:2	USINT	8	0	31	3		readwrite
The order or length of the FIR filter. Order of the filter means the maximum number of delay elements used in the filter circuit.