# 0x2009:0 Commutation Offset

Used for reporting the state of the commutation offset.

Object Type OBJECT_TYPE_RECORD 0x2009 0 USINT 8 DEFTYPE_UNSIGNED8 readonly (default) mandatory

# 0x2009:1 State

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.

Object Type OBJECT_TYPE_RECORD 0x2009 1 INT 16 DEFTYPE_INTEGER16 readonly (default) optional
 OFFSET INVALID 0 1 2

# 0x2009:2 Applied percent of rated torque

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

Object Type OBJECT_TYPE_RECORD 0x2009 2 INT 16 DEFTYPE_INTEGER16 0 readwrite optional