3.1.3.1.2 Selecting the PWM frequency
The PWM frequency can be changed in object 0x2010:9 Torque controller: Switching frequency.
Enter the value 0 for 16 kHz
Enter the value 1 for 32 kHz
Enter the value 2 for 64 kHz
By default, the switching frequency is set to 16 kHz. Higher switching frequency values will result in higher
switching losses in the inverter and less copper and iron losses in the motor. Moreover, higher switching
frequencies will result in less ripples in currents and voltages of the DC link which results in less ripple
amplitudes in the currents and voltages of the power supply.
Note
If the motor time constant is bigger than 100 ms, it’s recommended to use 16 kHz. If the motor time
constant is less than 100 ms, or the ripple amplitudes of the DC-Link is too high, it’s recommended to
select higher switching frequencies.
3.1.3.1.3 Gear Ratio
A gear ratio between motor and driving shafts can be configured. This ratio defines the relationship between
the motor shaft and driving output shaft. The position feedback and command will always be relative to the
driving shaft.
The feature dual-loop cascaded position controly can be used in such setups.
3.1.3.1.4 Advanced motor configurations
Motor Overload Protection (i2t) This feature limits the overcurrent injected to the motor to prevent damage
from overheating.
Attention
It is strongly recommended configuring the I2t protection before using the drive in regular operation.
Cogging Torque Compensation Removes ripples caused by magnetic interaction between motor rotor and
stator.
Field Weakening The velocity range of electric motors can be extended by weakening the magnetic field of
the rotor linearly over the speed range.
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