3.1.9.1.54 0x2021 Velocity feedback filter
Measured velocity signal from the sensor can be filtered. There is only one type of filtering that the user can
choose:
1st order low pass filter with formula G(s)=1/(1+sT), where T=1/(2*pi*f),
The filter is implemented in discrete domain using Euler's forward difference discretization method, i.e.
s=1/T*(1-z^-1).
The filter is enabled by setting the filter type parameter to 1, and disabled by setting it to 0. 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
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
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