3.1.8.3.1.2.7 Using the compensation table
Once the recording procedure is successfully finished, the cogging torque compensation can be activated and
deactivated both in the OBLAC Drives GUI as well as via EtherCAT. The Object 0x2008 ”Cogging torque
compensation is set when the cogging torque compensation is enabled or disabled in the GUI of OBLAC
Drives.
Set the switch for the cogging torque compensation to “Enabled” and click “Save to Device” to use the feature
during operation of the drive.
The feature is activated globally and will be used in all modes of operation (torque control, velocity control and
position control).
3.1.8.3.1.3 Controlling the feature via EtherCAT
To enabled or disabled the compensation algorithm Object 0x2008 ”Cogging torque compensation”, subindex
2 (cogging torque compensation enabled) must be set to 1.
By enabling the cogging torque compensation algorithm, the table communicated to the torque controller is
added as a set of values to the torque reference value depending on the motor position. If the algorithm is
disabled, this is skipped.
To start the cogging torque compensation recording procedure via EtherCAT the manufacturer specific
operational mode “COGGING COMPENSATION RECORDING” must be enabled in Object 0x6060 (Op Mode) by
setting the value to -1.
3.1.8.3.1.4 Subitems:
3.1.8.3.1.4.1 1 State
State of the cogging torque compensation table. Possible values:
0 - NO DATA (there is no cogging table in the memory
1 - IN PROGRESS
2 - SAVING (recording is done and table is being saved to the memory)
3 - DATA EXISTS (cogging table exists and is saved in the memory)
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