Siemens SINAMICS S120 Function Manual page 633

Filling process depending on the direction of motion
Compensation depending on the direction of motion is beneficial when the operating point
changes depending on the direction of motion given large friction forces.
1. So that a compensation table is used for each direction of motion, activate p5250.1 = 1
(prerequisite: p5250.0 = 1).
2. Define the length of the compensation table using p5252.
3. Move the motor with 1.5 revolutions per minute (in positive direction).
4. Activate slow learning for the compensation table of this direction of motion with
p5251.0 = 1.
The compensation table p5260 is filled.
5. Check the mean values for slow learning.
Wait at least one revolution of the motor. As soon as the mean values (r5254[0]) are ≥ 2,
the slow learning can be exited.
6. Then Deactivate slow learning for the positive direction with p5251.0 = 0.
7. Move the motor with -1.5 revolutions per minute (in negative direction).
8. Activate slow learning for the compensation table of this direction of motion with
p5251.0 = 1.
Die compensation table p5261 is filled.
9. Check the mean values for slow learning.
Wait at least one revolution of the motor. As soon as the mean values (r5254[0]) are ≥ 2,
the slow learning can be exited.
10.Then Deactivate slow learning for the negative direction with p5251.0 = 0.
The cogging torque compensation is then performed with the values from p5260 and
p5261.
11.So that the values in the compensation table(s) are permanently stored, perform a RAM
to ROM.
If they are not saved, the values in the compensation table need to be recalculated after
each POWER ON.
Note
If the cogging torque compensation is active during slow learning, the compensation tables
are switched with the rotational speed hysteresis (p5256). The respective prior table remains
active as long as the rotational speed remains in the hysteresis band. A table switch can only
take place when the hysteresis range is left.
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Function modules
8.15 Cogging torque compensation
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