We perhaps could share some data but there is insufficient time to gather the results and publish them 
Yes, I think the Mige (small) has pretty minimal cogging based on the results with mine. I’m glad to know that it’s slightly better though, so thanks for the help. 
@Mika As my current compensation is only 0.01a, would changing the scale (x*) allow for finer tuning of the cogging compensation? In other words, using a scale higher or lower where the result could be improved even more?
I do not know how that part of the IONI firmware is implemented. There are negligible benefits from doing that fine adjustments, so time will be better spent on just driving 
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Even the raw data would be massively appreciated! 
I suspected as much Mika but, thank you for your response. 
sorry if this is a dumb question, but i’m not sure i ever understood what the difference between cogging and notching(ripple?) is, so i feel this is a good place to ask. Is cogging just “dents” that are heavy or rather far apart and notching small increments or how do you determine the difference?
Cogging - notching/stepping caused by the magnets driving the servo motor when unpowered.
Ripple - stepping/notching felt when the motor is under power and producing torque.
‘notching, stepping’ and other terms are just words to describe the feeling of the effect caused by cogging and/or ripple.