Printed in the Federal Republic of Germany
TR-Electronic GmbH 2018, All Rights Reserved
08/29/2018
TR - ELA - BA - DGB - 0029 - 00
Page 89 of 111
7.2 Object 2001h: Interpolation
Interpolation switched off:
A new position value is output according to the internal measuring system cycle
time. If the bus cycle time corresponds to the internal measuring system cycle time,
a new position value will also be output per bus cycle in this case.
Interpolation switched on:
If the internal measuring system cycle time is much greater than the bus cycle
time, it may be useful to switch on the interpolation. Intermediate position values
can then be calculated through internal measured value processing. These
calculated position values have a much smaller cycle time than the internal
measuring system cycle time.
Index
0x2001
Object type
VAR
Name
Interpolation
Data type
UNSIGNED8
Category
Optional
Value range
Bit 0 = 0: Interpolation OFF
Bit 0 = 1: Interpolation ON
Access
rw
Default value
0
PDO mapping
no
7.3 Object 2002h: Speed_Filter
The Speed_Filter is a parameter which characterizes the mathematical processing of
the measured values. In the case of a high measuring dynamics the measured value
has no mathematical post-processing, which results in greater measured value noise,
while in the case of a lower measuring dynamics the measured value noise is
considerably reduced, but this also results in delays in the measured value calculation.
Index
0x2002
Object type
VAR
Name
Speed_Filter
Data type
UNSIGNED8
Category
Optional
Value range
0…7;
1 = Dynamics high,
4 = Dynamics average, 7 = Dynamics low
Access
rw
Default value
0: Switched off
PDO mapping
no
7.4 Object 2003h: Position_Filter
With the Position_Filter the output position value can be averaged and results in a
small output jitter.
Index
0x2003
Object type
VAR
Name
Position_Filter
Data type
UNSIGNED8
Category
Optional
Value range
1 = no averaging,
2 = averaging of 2 values,
4 = averaging of 4 values
8 = averaging of 8 values
Access
rw
Default value
1
PDO mapping
no
