In a motor system with large inertia (three times the rated torque is applied to the motor at the start-up time), the problem of swinging around the zero position after pulling to the zero position will arise. This situation can be improved by changing the rising slope of the current?
Which variable is the slope of current rise? # Define USER_MAX_CURRENT_SLOPE (USER_MOTOR_RES_EST_CURRENT/USER_IQ_FULL_SCALE_CURRENT_A/USER_TRAJ_FREQ_Hz)?
I have reduced the value of USER_MAX_CURRENT_SLOPE and it has no effect. How to explain?
Is there a variable that controls how fast the current changes, just as acceleration controls the speed?
If so, what is this variable? Where? How can the change of current be affected?