0x2008

0x2008:0 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.

Object Type OBJECT_TYPE_RECORD
Index 0x2008
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2008:1 State

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.

Object Type OBJECT_TYPE_RECORD
Index 0x2008
SubIndex 1
Type INT
Bit Size 16
Deftype DEFTYPE_INTEGER16
Min Data 0
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping
Options
NO DATA 0
IN PROGRESS 1
SAVING 2
DATA EXISTS 3

0x2008:2 Enabled

Enables or disables the cogging compensation feature. Set to 0 to disable or to 1 to enable the feature.

Object Type OBJECT_TYPE_RECORD
Index 0x2008
SubIndex 2
Type INT
Bit Size 16
Deftype DEFTYPE_INTEGER16
Min Data 0
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping
Options
Disabled 0
Enabled 1