3.1.9.1.45 0x2008 Cogging torque compensation
Cogging compensation is a software feature that suppresses torque ripple of electric motors to overcome
vibration problems in precision applications. When cogging compensation is activated, an additional torque
component is generated actively by the motor in order to compensate the cogging torque. To find the amount
of compensation torque needed at each motor position, a recording procedure has to be performed before
the compensation itself can be used. This object is used for reporting the state of the motor cogging data and
enabling or disabling the cogging compensation feature.
Name Index:Sub Type Bit
Size
Options Unit Access PDO
Mapping
State 0x2008:1 INT 16
NO DATA 0
IN PROGRESS 1
SAVING 2
DATA EXISTS 3
readonly
(default)
State of the cogging compensation procedure and data.
Possible values:
NO DATA (0) - No cogging data has been stored. Use the Cogging Recording opmode to record new data.
IN PROGRESS (1) - Recording of the cogging data is in progress.
SAVING (2) - Recording is done and the data is being saved to memory.
DATA EXISTS (3) - Cogging data has been loaded from memory. Use the Enabled subfield to enable the
data for cogging compensation.
Name Index:Sub Type Bit
Size
Options Unit Access PDO
Mapping
Enabled 0x2008:2 INT 16
Disabled 0
Enabled 1
readwrite
Enables or disables the cogging compensation feature.
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