mm::node::CommutationOffsetResult Struct Reference

What commutation offset measurement (command 5) measured. More...

#include <somanet_drive.h>

Public Member Functions
std::string	describe () const
	One line describing the measurement, ready to put in front of a user.

Public Attributes
int16_t	angleOffset = 0
	The measured offset, signed as the drive's own 0x2001 is.
somanet::CommutationOffsetMethod	method {somanet::CommutationOffsetMethod::kRotating}
	The method the measurement ran under, which decides whether the rotor turned.

Detailed Description

What commutation offset measurement (command 5) measured.

Like motor phase order detection, the drive stores this itself: on success the firmware writes the offset into 0x2001 and sets 0x2009:01 to OFFSET_VALID, so a successful run has commissioned the axis rather than merely reported a number.

Member Function Documentation

describe()

std::string mm::node::CommutationOffsetResult::describe

(

)

const

One line describing the measurement, ready to put in front of a user.

Member Data Documentation

angleOffset

int16_t mm::node::CommutationOffsetResult::angleOffset = 0

The measured offset, signed as the drive's own 0x2001 is.

method

somanet::CommutationOffsetMethod mm::node::CommutationOffsetResult::method {somanet::CommutationOffsetMethod::kRotating}

The method the measurement ran under, which decides whether the rotor turned.

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The documentation for this struct was generated from the following files:

• libs/node/somanet_drive.h
• libs/node/somanet_drive.cc