| ASCII - Command | COGMODE | |||
| Syntax Transmit | COGMODE [Data] | |||
| Syntax Receive | COGMODE <Data> | Available in | ||
| Type | Variable rw | MMI | No | |
| ASCII Format | Integer8 | CANBus Object Number | 36CF (hex) | |
| DIM | - | PROFIBUS PNU | 1663 (dec) IND = 17 (dec) | |
| Range | 0 .. 3 | DPR | 463 (dec) | |
| Default | 0 | |||
| Opmode | All | Data Type Bus/DPR | Integer8 | |
| Drive State | - | Weighting | ||
| Start Firmware | 2.21 | |||
| Configuration | No | Last Change of this Object | 2.14 | |
| Function Group | motor | EEPROM | Yes | |
| Short Description | Cogging-compensation mode | |||
Description
| The COGMODE parameter is used to activate (value=1) / de-activate (value=0) the cogging compensation which compensates for the force / torque ripple that is caused by cogging. since FW 5.38 COGMODE = 2 cogging operation runs in the velocity mode COGMODE = 3 cogging operation runs in the velocity mode, it is a high-resolution cogging table created (higher accuracy). The compensation is achieved through a position-dependent current feed-forward signal that is fetched from a table and added to the current q-component command signal. Before the cogging compensation can be used, a current feed-forward table has to be generated using the CALCCOG command. Since the current feed-forward signal is related to the position-feedback PFB, the cogging compensation can only be used if the reference point has been set. In order for the cogging compensation to work properly, either it has to be ensured that the reference point is always located at the same position or the current feed-forward table has to be re-calculated using CALCCOG each time the reference point is set. Please have a look: DRVCNFG3 = 0x80 (bit 7) PRD position (commutation) is used to calculate the cogging table and not PFB (position control). This setting is useful for all rotary axes. |