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.