SCN 3577 corrected a bug with hard coded filter constants that were incorrect when SERCOS was being used. The constants should be calculated based on the cutoff frequency and the sample time. The sample time goes from 1ms to 2ms when SERCOS is used so the constants needed to change for SERCOS.

SAMCO has a belt drive system that they were able to tune with V4.48.00 and not able to tune in v4.49.00 which is where is bug was fixed. After experimenting with their settings we realized that they found settings on the old software that were a balance between accuracy, smoothness, die stroke and the drive overheating. If we provide them a method to use the old hard coded filter constants, we expect they will be able to use the latest software successfully.

A new setup called Lag Command Velocity Filter has been added. Its default value is 35.6Hz. If SAMCO uses 17.8Hz when using SERCOS they will be back to the filter constant values that were hard coded. If they are using analog they should use the default values