Siemens SINAMICS S120 Function Manual page 594

Function modules
9.15 Cogging torque compensation
Parame‐ Bit Index
ter
r5254 - 0
- 1
- 2
- 3
r5255 - 0
- 1
p5256 - -
p5260 - 0...4095
p5261 - 0...4095
592
Value Meaning
n Shows the mean values per point in the table during slow learning. If a point in the
table is passing through several times during slow learning, the newly calculated
torques are taken into account under the mean value. The table value is corrected
accordingly.
n Shows the currently used table index if the cogging torque compensation or a learn
process is active.
n Shows the table index at the start of the slow learning.
n Shows the table index at the end of the slow learning.
n Cogging torque compensation input
(Nm or Shows the actual torque/actual force when learning
N)
n Cogging torque compensation output
(Nm or Shows the precontrolled actual torque/actual force.
N)
n Used to switch between the two compensation tables (where p5250.1 = 1) for di‐
rection reversal in order to prevent frequent switching between the two tables in the
(rpm
case of actual speed value noise at standstill. In the hysteresis range, the respective
or
previous table remains active. The hysteresis width should be slightly larger than
m/min)
the actual speed value noise at standstill.
n Compensation values for the cogging torque compensation. These compensation
values are filled through a learning process (p5251) and can be changed manually.
(Nm or
N)
● Given a non-direction-based cogging torque compensation (p5250.1 = 0) only
this table is used.
● Given a direction-based cogging torque compensation (p5250.1 = 1) this table
is used for the positive direction of motion only.
After replacing the encoder and/or motor, the values in the compensation table must
be relearned.
n Compensation values for the cogging torque compensation in the negative direction
of motion (p5250.1 = 1). These compensation values are filled through a learning
(Nm or
process (p5251) and can be changed manually.
N)
After replacing the encoder and/or motor, the values in the compensation table must
be relearned.
Function Manual, 06/2019, 6SL3097-5AB00-0BP2
Drive functions