Siemens SIROTEC Function Manual

Function modules
8.15 Cogging torque compensation
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
631
Para-
meter
Bit
Index
Value
Significance
p5253 - - n Sets the factor for the search velocity for the periodicity during cogging torque
compensation.
• For rotating motors, the factor refers to one mechanical revolution (p5253 =
0.5 then generates one period of half of one mechanical revolution).
• For linear motors, the factor refers to one pole pair width.
• For synchronous motors, you should select the complete traversing range as
period (i.e. p5253 = traversing distance [mm] / p0315). The motor measuring
system must have absolute information here, which is unique regarding the
period; whereby an overflow in the actual value representation can destroy
this uniqueness.
r5254 - 0 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.
- 1 n Shows the currently used table index if the cogging torque compensation or a
learn process is active.
-
2
n
Shows the table index at the start of the slow learning.
-
3
n
Shows the table index at the end of the slow learning.
r5255 - 0 n
(Nm or N)
Cogging torque compensation input
Shows the actual torque/actual force when learning
- 1 n
(Nm or N)
Cogging torque compensation output
Shows the precontrolled actual torque/actual force.
p5256 - - n
(rpm
or
m/min)
Used to switch between the two compensation tables (where p5250.1 = 1) for
direction reversal in order to prevent frequent switching between the two tables in
the case of actual speed value noise at standstill. In the hysteresis range, the
respective previous table remains active. The hysteresis width should be slightly
larger than the actual speed value noise at standstill.
p5260 - 0...4095 n
(Nm or N)
Compensation values for the cogging torque compensation. These compensation
values are filled through a learning process (p5251) and can be changed manual-
ly.
• 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.
p5261 - 0...4095 n
(Nm or N)
Compensation values for the cogging torque compensation in the negative direc-
tion of motion (p5250.1 = 1). These compensation values are filled through a
learning process (p5251) and can be changed manually.
After replacing the encoder and/or motor, the values in the compensation table
must be relearned.

Siemens SIROTEC Specifications

General

Brand	Siemens
Model	SIROTEC
Category	DC Drives
Language	English