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The sinus filter or motor can be used to protect the motor from peak voltage due to capacitance effect in cable because of carrier frequency or PWM output. But it is not mandatory to us the solution, if the motor is compatible to use with VFD and the length of motor cable is with in the limit as mentioned in catalog.
If the motor cable length more than the specified in catalog, appropriate solution of choke or sinus filter can be used. Please refer the attachment for the choke and sinus filter references according to the drive rating and length of motor cable.