Remedy for frequent commutation error

Make sure that the commutation error is not caused by a poorly adjusted velocity controller and a resulting oscillating axis.

If the "Estimated commutation error" value is consistently significantly different from zero, check the commutation angle. Possibly an incorrect offset was determined and entered, or the "Wake & Shake" routine does not provide reliable values.

If the "Estimated commutation error" only becomes significantly larger at large current values, typically at large acceleration, check whether the current-dependent values of the inductance are entered in parameter P-0-0075. If these are not available to you - especially for third-party motors - you can reduce the value of the inductance in P-0-0066. (The value of the inductance is used in the configuration of the motor to calculate the gain of the current controller. In operation only the described motor model uses it.)

You can also set the monitoring to be more tolerant by increasing the value for "Max. commutation error". The adjustable maximum value of 1.57 corresponds to a deviation of the angle of 90°. With this deviation, the motor has no more power/torque, but does not run away. The case of positive feedback with a deviation >90° is also detected with this setting and an error is triggered.