Mechanical cut-off frequency (0x80n1:19 “Mech. operating frequency”)

The input of the mechanical cut-off frequency via index 0x80n1:19 "Mech. Operating frequency" offers the option of signal filtering. A distinction is made here between

The free running filter does not run frame-synchronously to the EtherCAT cycle, but is calculated asynchronously in the product. A cut-off frequency can be specified for this.

The frame-triggered filter is called up synchronously with each EtherCAT cycle and therefore has a direct time reference that must be taken into account in calculations. Overshoots can occur due to the temporal jitter of the EtherCAT frame. The attenuation may be lower than with the free running filters.

Mechanical cut-off frequency (0x80n1:19 “Mech. operating frequency”) 1:

Note Frame-triggered filters

If EtherCAT cycle times in the range up to 300 µs are used, it is recommended to use the frame-triggered filter. Otherwise, signal step changes may occur due to duplicate or missing values.

The following filter frequencies are available

Index 0x80n1:19 "Mech. operating Frequency"

Setting

Meaning: Cut-off frequency

Filter disabled

Additional cut-off frequency filter is inactive, only internal filter 1 is active

20 dec

20 Hz

30 dec

30 Hz

40 dec

40 Hz

50 dec

50 Hz

60 dec

60 Hz

80 dec

80 Hz

100 dec

100 Hz

200 dec

200 Hz

1001dec

Synchronous level 1, fg = 20 Hz * 100 µs / cycle time [µs]

1002dec

Synchronous level 2, fg = 30 Hz * 100 µs / cycle time [µs]

1003dec

Synchronous level 3, fg = 40 Hz * 100 µs / cycle time [µs]

1004dec

Synchronous level 4, fg = 50 Hz * 100 µs / cycle time [µs]

1005dec

Synchronous level 5, fg = 60 Hz * 100 µs / cycle time [µs]

1006dec

Synchronous level 6, fg = 80 Hz * 100 µs / cycle time [µs]

1007dec

Synchronous level 7, fg = 100 Hz * 100 µs / cycle time [µs]

1008dec

Synchronous level 8, fg = 200 Hz * 100 µs / cycle time [µs]

Mechanical cut-off frequency (0x80n1:19 “Mech. operating frequency”) 2:Fig.113: Filter characteristic curve free running filters
Mechanical cut-off frequency (0x80n1:19 “Mech. operating frequency”) 3:Fig.114: Filter characteristic Frame-triggered filters