OPTIMAL COGGING TORQUE COMPENSATION DURING MICROSTEPPING UNDER CONSTANT LOAD.

This study investigates some of the cogging torque effects in step motors when used in the microstepping mode. The current profile modification needed for the compensation of the cogging torque effect is given as well the errors caused by improper compensation. The study also explains why a step motor undergoing microstepping exhibits a larger hysteresis error in the shaft position than during regular stepping.