Method AbsoluteAngle¶
Alignment method AbsoluteAngle is used to align an actuator to a specific commutation angle, denoted by the PositiveAngle signal. Using this method, the coils of the actuator are not energized. This method can be used when the commutation angle is known from a previous alignment procedure.
The AngleOffset output of the alignment procedure is calculated as follows:
\[AngleOffset = PositiveAngle - \frac{CommutationAngle}{Value}\]
Note
The state of the axis does not have to be Operation Enabled to execute this method.
Signals¶
The signals applicable for this method are given in Alignment signals for method AbsoluteAngle.
Name |
Data type |
R/W |
Description |
|---|---|---|---|
PositiveAngle |
Float |
RW |
Absolute angle [rad], supported interval \([0,2\pi]\). |
Run exceptions¶
The AbsoluteAngle alignment method can not fail, i.e. it will not enter Error state.