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

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

Used method for measurment of commutation angle offset

Default value is 0. This method (method-0) does not need any tuning, it might rotate the motor up to 100% of a pole-pare range during phasing procedure.

If 1 is selected, method-1 will be executed to find the proper value of commutation angle offset. Before using method-1 the following steps should be completed:

Proper value of "phase inverted" parameter should be updated in the software.

PID parameters of phasing controller should be tuned. A well tuned phasing controller will result in no visible movement during offset detection procedure.

WARNING: If not tuned, the default values of "phasing controller" do not guarantee a stable situation. Before using "offset detection method 1" tune its "phasing controller" for your mechanical load. If you want to tune "phasing controller" of "offset detection method 1" make sure that your motor can freely rotate at high speeds (recommendation: start tuning by setting kp = 1, ki = 1, and kd = 0).

If 2 is selected, method-2 will be executed to find the proper value of commutation angle offset. Regarding method 2 the following points should be considered:

Method 2 does not need any movement on motor shaft

The reliability of method 2 is a function of motor design structure. As a result, for high reliabilty applications it is always recommended to use method 0 or method 1.

If Method 2 is selected, and commutation sensor has an index, then at startup the Drive uses method 2 to find a temporary offset. Once the index is found, this temporary offset will be replaced by the offset which is saved in object dictionary.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping

Phasing controller Kp 0x2009:4 REAL 32 0 0 readwrite

Proportional constant Kp in PID phasing controller. This controller is used to hold the position during offset detection procedure.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping

Phasing controller Ki 0x2009:5 REAL 32 0 0 readwrite

Integral constant Ki in PID phasing controller. This controller is used to hold the position during offset detection procedure.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping

Phasing controller Kd 0x2009:6 REAL 32 0 0 readwrite

Derivative constant Kd in PID phasing controller. This controller is used to hold the position during offset detection procedure.