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
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.WS.MODE |
5013h |
01h |
Unsigned8 |
- |
- |
Read/Write |
No |
|
AXIS2.WS.MODE |
5113h |
01h |
Unsigned8 |
- |
- |
Read/Write |
No |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
6704 |
1 |
6704 (0x1a30) |
AXIS1.WS.MODE |
Unsigned8 |
Read/Write |
Yes |
|
72240 |
2 |
6704 (0x1a30) |
AXIS2.WS.MODE |
Unsigned8 |
Read/Write |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.WS.MODE |
6704 |
Unsigned8 |
Read/Write |
- |
