This command is used to measure the commutation angle offset.
The configuration of the procedure is derived from the pre-existing and previously used commutation offset objects in the object dictionary.
Upon successful completion of this command, the determined value is automatically written to:
0x2001:00 Commutation angle offset
0x2009:01 State is set to OFFSET_VALID
In version 5.0, three different methods can be selected for command 5. These methods are named:
Commutation offset measurement - method 0
Commutation offset measurement - method 1
Commutation offset measurement - method 2
Among these three methods, "method 0" and "method 1" involve rotating the rotor.
This command can only be run when the opmode is -2 (OPMODE_DIAGNOSTICS) and the CIA402 state is Operation enabled.
Additionally, if the commutation offset measurement method (0x2009:3) is set to 0 or 1,
the command is permissible only when there are no active limit switches, and the brake status is disengaged (in case a brake is configured).
If any of these conditions is not met during the execution of the command, the execution will be halted,
and it will return the OS error code 251 (Command not allowed).
Command 5: Commutation offset measurement
This command is used to measure the commutation angle offset. The configuration of the procedure is derived from the pre-existing and previously used commutation offset objects in the object dictionary. Upon successful completion of this command, the determined value is automatically written to:
In version 5.0, three different methods can be selected for command 5. These methods are named:
This command can only be run when the opmode is -2 (OPMODE_DIAGNOSTICS) and the CIA402 state is Operation enabled. Additionally, if the commutation offset measurement method (0x2009:3) is set to 0 or 1, the command is permissible only when there are no active limit switches, and the brake status is disengaged (in case a brake is configured). If any of these conditions is not met during the execution of the command, the execution will be halted, and it will return the OS error code 251 (Command not allowed).