0x2505 - Torque actual low pass filter
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x2505 | 0x01 | Filter enabled | UINT8 | RW | No | Yes | 0 or 1 | 0 | - |
0x2505 | 0x02 | Cutoff frequency | UINT16 | RW | No | Yes | 0 to 1500 | 100 | Hz |
This object allows to check all parameters related to the torque actual filter.
The filter is a first order low pass filter in which the cutoff frequency (the frequency where the output is attenuated 3 dB) is configurable. It is situated before the torque loop, see Torque for further information.
SubIndex description:
- 0x01 (Filter enabled): It indicates if the filter is enabled or disabled. Writing a one will enable the torque actual filter.
- 0x02 (Cutoff frequency): It indicates the actual cutoff frequency for the low pass filter.