3.1.9.1.57 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.
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