0x2009 Commutation Offset

Used for reporting the state of the commutation offset.

Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
State	0x2009:1	INT	16	OFFSET INVALID 0 IN PROGRESS 1 OFFSET VALID 2				readonly (default)
This subitem shows the state of the commutation offset. A new offset can be found by entering the Commutation Offset Detection opmode. OFFSET INVALID (0) - Offset detection needs to be executed before using the torque controller. IN PROGRESS (1) - Commutation Sensor Offset Detection is currently in progress. OFFSET VALID (2) - The offset has been found and is valid. The torque controller can now be used.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Applied percent of rated torque	0x2009:2	INT	16	0		100		readwrite
Defines the amount of torque to be applied during the offset detection process. Specify this value in percent of rated torque.