Keba ServoOne - Page 123

No. Action
--
-Theteachingandcalculationarethusfinished.
-Thepositionsourceusedhasbeenstoredinternally.
-Thecompensationtableisavailableforuseimmediately.
11 Stopcontrol
12
Startthecompensation:P 382[0] - CON_TCoggComp > 0
Afterthis,theq-currentfeedforwardcontrolbecomesactivewhenthecontrol
isrestarted.
13
Savedevicedata.
-Thepositionsourceusedbytheteachingisalsosavedhere.Itwilllaterbe
usedforthecompensationonceagaininexactlythesamemanner.
Table 7.5: Overall procedure for detent torque compensation
7.3.5.3.1Scoperecording:speed‘before'and‘after'
A significant improvement in the speed progression is noticeable in the ‘yellow’
scope signal (13): nact [rpm]: cur. speed from filter.
Image 7.11: Before detent torque compensation (without)
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
123
7 Control
Image 7.12: After enabling detent torque compensation (with) (please keep the Y
axis scaling in mind!)
Possiblemonitoringviascopesignal(69)isqref_comp[A]:ref.currentfromanti-cog-
ging-->in‘blue'here

Image 7.13: Monitoring with isqref_comp (69)