0x23D1 - Analog input feedback correction

Index	Sub Index	Name	Data Type	Acc.	Pdo Map.	NVM	Value range	Default value	Units
0x23D1	0x01	Correction enabled	UINT8	RW	No	Yes	UINT8	0	-
0x23D1	0x02	Value 0	INT32	RW	No	Yes	INT32	0	-
0x23D1	0x03	Value 1	INT32	RW	No	Yes	INT32	0	-
..	..	..	..	..	..	..	..	..	..
0x23D1	0x81	Value 127	INT32	RW	No	Yes	INT32	0	-
0x23D1	0x82	Value 128	INT32	RW	No	Yes	INT32	0	-

EMCL includes an analog compensation mechanism to correct possible non-linearity on analog feedbacks.

The system applies a correction function on the analog voltage reading before to use it as position sensor.

In order to give the maximum flexibility and simplicity to the user the implementation of the compensation function is based on a table of 129 positions (giving 128 steps). Each entry of the table will represent the desired analog corrected value (or desired position reading) for a fixed voltage input.

The first entry of the table will correspond to the position result at the minimum analog input voltage. The last entry (position 128) will correspond to the position result at the maximum analog input voltage.

Finally, to avoid losing sensor resolution, the corresponding voltage values between two entries of the table are calculated using linear interpolation.

SubIndex description:

0x01 (Correction enabled): Writing a 1 in this object will activate the compensation mechanism.

0x02 to 0x82 (Value 0 to Value 128): List of corrected values.