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.
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).
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
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