Cogging torque shows some ripple at 2x electrical frequency as well as a higher frequency component. Total cogging amplitude is plus or minus .025 N-m. Bumping up the Q-amps, overall amplitude of torque ripple doesn’t change too much over cogging torque, but becomes noticeably spikier.
Make a robot friend with Adafruit’s CRICKIT – A Creative Robotics & Interactive Construction Kit. It’s an add-on to our popular Circuit Playground Express, FEATHER and other platforms to make and program robots with CircuitPython, MakeCode, and Arduino. Start controlling motors, servos, solenoids. You also get signal pins, capacitive touch sensors, a NeoPixel driver and amplified speaker output. It complements & extends your boards so you can still use all the goodies on the microcontroller, now you have a robotics playground as well.