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Cogging Compensation
I am interested in using Torque compensation tables to suppress unwanted motor cogging. But our system is using drives over EtherCAT network. Has anyone successfully done this? I am concerned that the latencies introduced the the Ecat network might limit the effectiveness. Or, that the motors phase position is not even available to Pmac when using DS402. Any thoughts or suggestions ?

This can be done in CST mode at the DC rate.
I have also been reminded of the addition of Motor[x].CompDac (with pAccOut) after vs 2.1 firmware for Sys.PosCtrl. See the "Power PMAC Users Manual" in the section "Position Command Output Algorithm" (page 306). This will do what you want in CSP.

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