Editing Configuring cogging torque compensation

[https://en.wikipedia.org/wiki/Cogging_torque Cogging torque] compensation feature in drive that aims to make motor torque production more uniform and ideal. 

''"Cogging torque of electrical motors is the torque due to the interaction between the permanent magnets of the rotor and the stator slots of a Permanent Magnet (PM) machine. It is also known as detent or ‘no-current’ torque. This torque is position dependent and its periodicity per revolution depends on the number of magnetic poles and the number of teeth on the stator.”''

This can be compensated by modulating motor current to counter the motor cogging. In some Granite Devices drives  ([[IONI]] Pro family on the time of writing) there are options to adjust compensation current by few parameters.

{{picturebox|torqueCompensation.png|596px|caption=Cogging torque compensation parameters in Granity}}

==Configuration==
===Parameters===
Static no-current cogging compensation is done by summing a fixed amplitude waveform on the torque [[setpoint]]. The default waveforms are sinusoidal where phase angle of sine is driven by motor angle.
*{{param|TRF1}} - selects the function of compensator
*{{param|TRA1}} - adjusts the amplitude of summed torque command

Dynamic nonuniformity compensation helps to reduce torque ripple when non-zero current is being driven. The method of operation is same, except this time setpoint amplitude is modulated by scaling of torque setpoint instead of summing.
*{{param|TRF2}} - selects the function of compensator
*{{param|TRA2}} - adjust the modulation depth of compensator
===Finding values===
TODO