High values result in a better signal to noise ratio and allow to overcome static friction if the system
doesn’t move with default input. However, oscillations may have a bigger amplitude and generate
noise in the torque controller.
Torque excitation signal frequency range - defines the frequency range of the injected signal: from 2
Hz to the specified value.
How to use this slider:
It is recommended to use the default value. Adjust the slider if a known resonance should be
included into the model
Low values will result in a more precise identification procedure and more stress on the mechanical
structure.
High values will result in less stress and the identification procedure will be less precise due to the
EtherCAT communication delay. As a result, higher frequencies are included into the model. An
Commissioning and Tuning with SOMANET OBLAC Drives
© 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 3.2.0 | Build: 2020-05-25
39/67