33C1h Sensorless Observer State Function This object shows the current Sensorless Observer status. Object description Index 33C1h Object name Sensorless Observer State Object Code VARIABLE Data type UNSIGNED8 Savable no Access read only PDO mapping TX-PDO Allowed values Preset value Firmware version FIR-v2602-B1081826 Change history Description The bits show the current status / mode: Bit 0: The value "1" signals an observer error (error code 36h) due to wrong motor parameter configuration or an instability of the observer system. Bit 1: The value "1" shows that the Sensorless Observer enables Closed Loop (speed rises above the threshold in 3380h:04h). It is also on when the Sensorless Observer is requested via 3203h:01h and the speed is below the threshold, but no encoder is available, or when Open Loop mode is requested in 3202h. Bit 2: The value "1" signals that currently the encoder signal is used as feedback, either when the Sensorless Observer is not available, or not requested in 3203h:01h. Bit 3: The value "1" signals that the fallback state has been entered due to the Sensorless Observer not being available temporarily. In this case, the encoder is used until the observer becomes available again.
33C1h Sensorless Observer State Function This object shows the current Sensorless Observer status. Object description Index 33C1h Object name Sensorless Observer State Object Code VARIABLE Data type UNSIGNED8 Savable no Access read only PDO mapping TX-PDO Allowed values Preset value Firmware version FIR-v2602-B1081826 Change history Description The bits show the current status / mode: Bit 0: The value "1" signals an observer error (error code 36h) due to wrong motor parameter configuration or an instability of the observer system. Bit 1: The value "1" shows that the Sensorless Observer enables Closed Loop (speed rises above the threshold in 3380h:04h). It is also on when the Sensorless Observer is requested via 3203h:01h and the speed is below the threshold, but no encoder is available, or when Open Loop mode is requested in 3202h. Bit 2: The value "1" signals that currently the encoder signal is used as feedback, either when the Sensorless Observer is not available, or not requested in 3203h:01h. Bit 3: The value "1" signals that the fallback state has been entered due to the Sensorless Observer not being available temporarily. In this case, the encoder is used until the observer becomes available again.
Object description Index 33C1h Object name Sensorless Observer State Object Code VARIABLE Data type UNSIGNED8 Savable no Access read only PDO mapping TX-PDO Allowed values Preset value Firmware version FIR-v2602-B1081826 Change history
Description The bits show the current status / mode: Bit 0: The value "1" signals an observer error (error code 36h) due to wrong motor parameter configuration or an instability of the observer system. Bit 1: The value "1" shows that the Sensorless Observer enables Closed Loop (speed rises above the threshold in 3380h:04h). It is also on when the Sensorless Observer is requested via 3203h:01h and the speed is below the threshold, but no encoder is available, or when Open Loop mode is requested in 3202h. Bit 2: The value "1" signals that currently the encoder signal is used as feedback, either when the Sensorless Observer is not available, or not requested in 3203h:01h. Bit 3: The value "1" signals that the fallback state has been entered due to the Sensorless Observer not being available temporarily. In this case, the encoder is used until the observer becomes available again.
