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

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.

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.