Commissioning - Siemens SINAMICS S120 Function Manual

8.15.2

Commissioning

Activate cogging torque compensation function module
1. Activate the "Cogging torque compensation" function module using the commissioning
Wizards in the STARTER.
- OR -
2. Open the configuration of the drive unit ("Configuration" > "Function module / Technology
package") and activate the option "Cogging torque compensation" in the dialog "Object
properties".
You can check that it has been activated in parameter r0108.22.
Activate cogging torque compensation
1. To activate cogging torque compensation, set p5250.0 to 1.
With this setting, only a table independent of the direction of motion is used for the
cogging torque compensation (p5260).
2. If you want to use your own table for each motion direction of the Cogging torque
compensation, also set p5250.1 to 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).
Note
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
directions.
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Function modules
8.15 Cogging torque compensation
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