The Command Velocity Filter was added for a specific customer who claimed that earlier versions of software performed better on their system.

We were looking for any differences between the "good" version and the latest. One difference was due to a bug that was fixed. The command velocity was being filtered using hard coded constants that did not get adjusted properly when the loop time changed for SERCOS. By adding the Setup, they were able to use the same filtering as was being used prior to fixing the bug.

The default filter rate is 35.8Hz. The effective rate with SERCOS prior to fixing the bug was 17.8Hz.

Recently a different customer was having trouble and we discovered that they had set the filter rate to 1hz. This caused their Die Accelerator to be way behind as it was accelerating. For this reason, we are raising the Lower Limit to something that still allows some adjustment below the default but limits it to a more reasonable range.

The Lower Limit of the Command Velocity Filter is now 10Hz rather than 1Hz.