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 A Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design
|
Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable |
|---|---|---|---|---|---|---|---|---|
| EtherCATEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs COE and CANopen |
AXIS1.WS.MODE | 0x5013 | 0x1 | USINT | - | - | RW | False |
| AXIS2.WS.MODE | 0x5113 | 0x1 | USINT | - | - | RW | False |
