Activating The Function Module; Activate Cogging Torque Compensation; Filling Compensation Tables - Siemens SINAMICS S120 Function Manual

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Function modules

9.15 Cogging torque compensation

Activating the function module

To activate the function module, proceed as follows:

1. In Startdrive, select "Drive axis > Parameters > Basic parameter assignment > Function

2. Activate the function module "Cogging torque compensation."

You can check that it has been activated in parameter r0108.22.

To activate the cogging torque compensation, proceed as follows:

1. Set p5250.0 = 1.

With this setting, only a table independent of the direction of motion is used for the cogging

torque compensation (p5260).

2. In order to use an individual table for each direction of movement for the cogging torque

compensation, set also p5250.1 = 1.

With this setting, each direction of motion uses its own table. The compensation values are

stored in p5260 (positive direction) and p5261 (negative direction).

If this option is activated, no additional learning is possible (p5251.1 = 1).

If you deactivate this option with p5250.1 = 0, table p5260 is once again used for both

Cogging torque compensation is executed via a table p5260 which, depending on the position

of the motor measuring system, is read out and precontrolled. The table is entered in Nm for

rotating motors or in N for linear motors.

Function Manual, 06/2019, 6SL3097-5AB00-0BP2

Drive functions