In order to eliminate the influence of friction from the calculation, the mass moment
of inertia can be determined similarly a second time, however by deceleration test.
The average value of both inertia, determined at acceleration or deceleration must
be entered in parameter dr32 inertia motor (kg cm^2).
Since only one total inertia (motor + load) is determined cs17 must be set to 0.
Speed controller PT1 output filter
A PT1 low pass filter is series-connected to the speed controller.
Figure 101: PT1 output filter
Thus, high-frequency oscillations (caused by spring elements in the mechanics of
the drive train) can be filtered from the active current setpoint signal.
The filter time is adjusted in parameter (cs20 torque ref PT1 time). A longer time
causes a stronger smoothing of the active current signal, but also a lower dynamic
control behaviour and increased oscillation.
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