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 readwrite

Defines the amount of torque to be applied during the offset detection process. Specify this value in percent of rated torque.