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 (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 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 Commutation

The motor phase is set to zero, and the motor is excited with varying magnitudes at various frequencies to determine the correct commutation angle.

This mode is “automatic” meaning it requires no configuration by the user. However, it takes the longest of the Wake and Shake modes.

General Information

Type	R/W Parameter
Units	N/A
Range	0 to 2
Default Value	0
Data Type	U8
Start Version	M_01-01-00-101, M_01-02-00-000

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	Index/Subindex	Object Start Version
EtherCAT ***EtherCAT 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	3874/0	M_01-00-00-000