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AXIS#.WS.MODE

Description

This parameter sets the method used for finding commutation.

0 = Standard wake and shake

Two iterations are used to find the correct angle in this mode. Coarse (current mode) and fine (velocity mode) iterations are done in a loop (AXIS#.WS.NUMLOOPS times). The average angle of all loops is calculated and used.

1 = Commutation alignment by fixed commutation vector (Zero Method)

The motor poles are set to 0, current mode is activated, and AXIS#.WS.IMAX is applied. The angle in which the motor settles is used for commutation. Other settings are restored (such as motor poles and operation mode).

2 = Auto wake and shake

This mode uses an auto-commutation finding algorithm that requires no parameters to be configured (AXIS#.WS.FREQ is optional).

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read/Write

Units

N/A

Range

0 to 2

Default Value

0

Data Type

Integer

Stored in Non Volatile Memory

Yes

Variants Supported

All variants are supported.

Fieldbus Information

Fieldbus Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable
EtherCAT COE and CANopen AXIS1.WS.MODE 0x5013 0x1 USINT - - RW False
AXIS2.WS.MODE 0x5113 0x1 USINT - - RW False

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