Commutation error

What does F2A0 mean?

This error indicates that the motor's commutation results are incorrect, meaning there is a misalignment between the motor's electrical phases and its physical rotor position. This can occur during initial setup, especially with "wake & shake" procedures, or after motor/encoder replacement. Incorrect commutation leads to inefficient motor operation, poor control, and a significant risk of uncontrolled movements or damage, compromising safety and performance.

Additional Steps

Steps 1–2 are listed in Priority Fix.

1. 3

   If necessary, adjust the commutation offset for the motor according to the detailed procedures outlined in the manual's chapter on the commutation process.

2. 4

   Additionally, verify the 'Commutation Mode' setting in parameter P-0-0150; if set to '0: No commutation position', update it to an appropriate commutation offset mode (e.g., '2:Commutation Offset 0 deg') and then determine the valid offset.