CANopen Programmer's Manual - Maccon.de

4: Control Loop Configuration CANopen Programmer’s Manual
Velocity Loop Filters
The velocity loop contains two programmable digital filters. The input filter should be used to
reduce the effects of a noisy velocity command signal. The output filter can be used to reduce the
excitation of any resonance in the motion system.
Two filter classes can be programmed: the Low-Pass and the Custom Bi-Quadratic. The Low-
Pass filter class includes the Single-Pole and the Two-Pole Butterworth filter types. The Custom
Bi-Quadratic filter allows advanced users to define their own filters incorporating two poles and two
zeros.
Program the filters using Velocity Loop Output Filter Coefficients (index 0x2106, p. 149) and
Velocity Loop Command Filter Coefficients (index 0x2108, p. 149).
Velocity Loop Output
The output of the velocity loop is accessed in the Commanded Current object (index 0x221D, p.
152).
134 Copley Controls