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

EtherCATClosed ***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

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDOClosed PDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. Mappable

AXIS1.WS.MODE

5013h

01h

Unsigned8

-

-

Read/Write

No

AXIS2.WS.MODE

5113h

01h

Unsigned8

-

-

Read/Write

No
EtherNet/IP

Name

ID

Hex

Data Type

Access

Units

AXIS1.WS.MODE

6704

1A30

Unsigned8

Read/Write

-

AXIS2.WS.MODE

72240

11A3

Unsigned8

Read/Write

-
PROFINET

Parameter

PNU

Data Type

Access

Units

AXIS#.WS.MODE

6704

Unsigned8

Read/Write

-