Command Offset [G] [Wg] - Mitsubishi Electric MELSERVO-J5 Series User Manual

4.20

Command offset [G] [WG]

Available on servo amplifiers with firmware version A5 or later.
The command offset function compensates position/speed/torque commands by adding a desired offset amount to the
commands. Position offset, velocity offset, and torque offset can be set.
Functions
Position offset
Velocity offset
Torque offset
• The type of the command offset function that can be used differs depending on the control mode.
Page 305 Applicable control modes
Precautions
• If the offset value difference between position/velocity/torque offsets is too large, the servo motor may rotate due to the
sudden change in torque when the control mode is switched. Check the setting value of the command offset function when
switching modes.
• If the position/velocity/torque offset value is too large, the servo motor may rotate due to the sudden change in torque at
servo-on. Check the setting value of the command offset function when switching modes.
• Set "0" for the command offset function while the servo amplifier is in the servo-off state, and reset the value after servo-on.
• [Torque offset (Obj. 60B2h)] can be used simultaneously with [Pr. PE47 Unbalanced torque offset]. If a value other than "0"
is set for both the servo parameter and the object, the setting values of both [Torque offset (Obj. 60B2h)] and [Pr. PE47
Unbalanced torque offset] are added to the torque command.
• If the velocity offset is used in the position mode, a position deviation may occur at the command stop and positioning may
not finish as a result.
• When using super trace control, do not use the velocity offset. To adjust the speed feed forward during super trace control,
use [Pr. PB04 Feed forward gain].
Setting method
Set the position offset with [Position offset (Obj. 60B0h)], the velocity offset with [Velocity offset (Obj. 60B1h)], and the torque
offset with [Torque offset (Obj. 60B2h)].
For details on the objects, refer to the User's Manual (Object Dictionary).
Index Sub
60B0h 

60B1h
60B2h 
4 APPLICABLE FUNCTIONS
304
4.20 Command offset [G] [WG]
Outline
• In the position mode, an offset can be added to [Target position (Obj. 607Ah)].
• In the velocity mode, an offset can be added to [Target velocity (Obj. 60FFh)].
• In the position mode, an offset (speed feed forward) can be added to the speed command calculated internally to drive
the servo motor.
• In the torque mode and continuous operation to torque control mode, an offset can be added to [Target torque (Obj.
6071h)].
• In the position mode and velocity mode, an offset (torque feed forward) can be added to the torque command calculated
internally to drive the servo motor.
Object Name
VAR Position offset
VAR Velocity offset
VAR Torque offset
Description
Position offset (pos units)
Velocity offset (vel units)
Torque offset
Unit: 0.1 % (with rated torque being 100 %)