3.1.9.1.46 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
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