0x2022 Position Feedback Filter¶
The measured position 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 | 0x2022:1 | USINT | 8 |
|
readwrite | ||||||||||||
| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||||
| Cutoff Frequency | 0x2022:2 | UDINT | 32 | 0 | Hz | readwrite | |||||||||||
