Siemens SINAMICS S120 Function Manual page 104

Servo control
3.7 Current setpoint filters
In addition to the the amplitude response, the phase response is also shown in the following.
A phase shift results in a control system delay and should be kept to a minimum.
Figure 3-9 Current setpoint filter
Transfer function:
Denominator natural frequency f
Denominator damping D
102
N
N
Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3
Drive functions