Filter type for smoothing sensor values (P-AXIS-00782)

P-AXIS-00782

Filter type for smoothing sensor data

Description

Sensor values may be noisy. The oscillation tendency can better be suppressed by using a suitable filter . You can select the following filter types for distance control:

• DEFAULT: Moving averaging filter with P-AXIS-00413 = 4
• MOVING_AVERAGE: Moving averaging filter
• LOWPASS: Low-pass filter
• KALMAN_MA: Kalman filter with prediction from averaging filter
• EXPO_MEAN: Exponentially weighted averaging filter
• KALMAN_EXPO: Kalman filter with prediction from exponentially weighted averaging filter

Parameter

kenngr.dist_ctrl[i].filter_type (where i=0)

Data type

STRING

Data range

DEFAULT

MOVING_AVERAGE

LOWPASS

KALMAN_MA

EXPO_MEAN

KALMAN_EXPO

Axis types

T, R

Dimension

T: ----

R: ----

Default value

DEFAULT

Drive types

SERCOS, Profidrive, CANopen

Remarks

In addition, the following filter parameters are required for each of the filter types::

• MOVING_AVERAGE: P-AXIS-00413
• LOWPASS: P-AXIS-00507, P-AXIS-00508 (As of v3.1.3079.21 this setting replaces the parameter P-AXIS-00506)
• KALMAN_MA: P-AXIS-00413, P-AXIS-00783
• EXPO_MEAN: P-AXIS-00413, P-AXIS-00784
• KALMAN_EXPO: P-AXIS-00413, P-AXIS-00784, P-AXIS-00783

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.filter_type

continues to be available.