3.1.9.1.45 0x2009 Commutation offset
Used for reporting the state of the commutation offset.
Name
Index:Sub Type
Bit
Size
Options
Unit Access
PDO
Mapping
State
0x2009:1
INT
16
OFFSET INVALID
0
IN PROGRESS
1
OFFSET VALID
2
readwrite
This subitem shows the state of the commutation offset. A new offset can be found by entering the
Commutation Offset Detection opmode.
OFFSET INVALID
(0) - Offset detection needs to be executed before using the torque controller.
IN PROGRESS
(1) - Commutation Sensor Offset Detection is currently in progress.
OFFSET VALID
(2) - The offset has been found and is valid. The torque controller can now be used.
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access
PDO
Mapping
Applied percent
of rated torque
0x2009:2
INT
16
0
100
100
readwrite
Defines the amount of torque to be applied during the offset detection process. Specify this value in
percent of rated torque.
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access
PDO
Mapping
Measurement
method
0x2009:3
SINT
8
0
2
0
readwrite
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