SYNAPTICON CIRCULO 7 User Manual

3.1.9.1.58 0x2023 Notch filter
Implemented as IIR 2nd order filter configured by the center frequency and the bandwidth around it. Filter is
placed on the output of the velocity controller so it filters the torque demand value. Frequency prewarping is
applied. Filter formula in discrete domain
y = a x + a x + a x + b y + b y
where a = K, a = -2Kcos(2pi*f), a2 = K, b1 = 2Rcos(2pi*f), b2 = -R
and K = (1 - 2Rcos(2pi*f) + R ) / (2-2cos(2pi*f))
R = 1 - 3 * BW
f - center frequency and BW - bandwidth expressed relative to the sampling frequency, where f,BW = [0, 0.5]
Name Index:Sub Type Bit
Size
Options Unit Access PDO
Mapping
Enabled 0x2023:1 BOOL 1
Disabled 0
Enabled 1
readwrite
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Center
frequency
0x2023:2 UINT 16 10 2000 100 Hz readwrite
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Rejection band 0x2023:3 UINT 16 1 4000 1 Hz readwrite
k 0 k 1 k-1 2 k-2 1 k-1 2 k-2
0 1
2
2
Synapticon Documentation
© 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.11.0 | Built 2021-07-23 646/887

SYNAPTICON CIRCULO 7 Specifications

General

Brand	SYNAPTICON
Model	CIRCULO 7
Category	Servo Drives
Language	English