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EL9576 | Brake Chopper Terminal with EtherCAT connection · 0 次阅读

Software filter

The EL9576 is equipped with a digital software filter which, depending on its settings, can adopt the characteristics of a Finite Impulse Response filter (FIR filter), or an Infinite Impulse Response filter (IIR filter). The filter is activated by default as 50Hz-FIR. If a filter is activated, it is active for the supply voltage and at the same time for the current through the external resistor.

In the respective measuring mode the filter can be activated (0x8000:02) and parameterized (0x8000:1A).

  • FIR 50/60 Hz
    The filter operates as a notch filter. A 50 Hz and a 60 Hz filter are available.
    Notch filter means that the filter has zeros (notches) in the frequency response at the filter frequency and multiples thereof, i.e. it attenuates the amplitude at these frequencies. The FIR filter operates as a non-recursive filter.
  • Software filter 1:
    Notch characteristic/amplitude curve and step response of the FIR filter
  • IIR-Filter 1 to 8
    The filter with IIR characteristics is a discrete time, linear, time invariant filter that can be set to eight levels (level 1 = weak recursive filter, up to level 8 = strong recursive filter).
    The IIR can be understood to be a moving average value calculation after a low-pass filter.
Software filter 2:
EL9576 Step response of the IIR filter
Software filter 3:
Bode diagram for the IIR filter

Overview of conversion times

Filter Settings

Value

PDO update time EL3356

Filter property

Limit frequency (-3 dB) [Hz] (typ.)

Comment

Rise time 10-90 % [s] (typ.

Filter deactivated

-

1 ms

 

 

-

-

0

FIR 50 Hz

1.25 ms

50 Hz notch filter

22 Hz

-

0.013

1

FIR 60 Hz

1.04 ms

60 Hz notch filter

25 Hz

-

0.016

2

IIR 1

1 ms

Low-pass

80 Hz

a0=1/21=0.5

0.003

3

IIR 2

Low-pass

40 Hz

a0=1/22=0.25

0.008

4

IIR 3

Low-pass

20 Hz

a0=1/23=1.25e-3

0.017

5

IIR 4

Low-pass

10 Hz

a0=1/24=62.5e-3

0.034

6

IIR 5

Low-pass

5 Hz

a0=1/25=31.2e-3

0.069

7

IIR 6

Low-pass

2.5 Hz

a0=1/26=15.6e-6

0.14

8

IIR 7

Low-pass

1.25 Hz

a0=1/27=781e-6

0.28

9

IIR 8

Low-pass

0.62 Hz

a0=1/28=390e-6

0.562

Software filter 4:

IIR filter

Differential equation: Yn = Xn * a0 + Yn-1 * b1
with a0 + b1 = 1
a0 = (see table)
b1= 1 - a0