0x2009

0x2009:0 Commutation Offset

Used for reporting the state of the commutation offset.

Object Type OBJECT_TYPE_RECORD
Index 0x2009
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

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
Index 0x2009
SubIndex 1
Type INT
Bit Size 16
Deftype DEFTYPE_INTEGER16
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping
Options
OFFSET INVALID 0
IN PROGRESS 1
OFFSET VALID 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
Index 0x2009
SubIndex 2
Type INT
Bit Size 16
Deftype DEFTYPE_INTEGER16
Min Data 0
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping