Adjusting The Torque Reference Offset - YASKAWA SGD7S series Product Manual

-12 -10
Default etting
Note: You can input a torque reference that exceeds the rated torque, but A.710 (Instantaneous Overload) or A.720
(Continuous Overload) alarms may occur if the reference is maintained for a long time or the motor outputs a
torque that exceeds the rated torque. Refer to the following section for details.
12.2.2 Troubleshooting Alarms on page 12-12
6.7.2

Adjusting the Torque Reference Offset

With torque control, the Servomotor may sometimes operate at a very low speed for a torque
reference of 0 V. This occurs because the internal reference in the SERVOPACK has a slight off-
set of a few millivolts.
If the Servomotor moves at a very low speed, the offset needs to be eliminated by adjusting the
offset.
You can adjust the torque reference offset either automatically or manually.
Output torque
Torque
reference
voltage
Automatically Adjusting the Torque Reference Offset
To automatically adjust the torque reference offset, the amount of offset is measured and the
torque reference voltage is adjusted automatically.
The measured offset is saved in the SERVOPACK.
The offset does not use a parameter, so it will not change even if the parameter settings are
Information
initialized.
 Preparations
The following conditions must be met to automatically adjust the reference offset.
• The parameters must not be write prohibited.
• The servo must be OFF.
• There must not be a position loop or speed loop in the host controller.
Output torque (%)
00
200
100
- 0
1 10 12
-100
-200
- 00
etting range
(1.0 V to 10.0 V)
Input voltage range (0 V to  12 V)
Off et
Off et adju tment

6.7.2 Adjusting the Torque Reference Offset

(Rated torque)
Torque reference voltage (V)
Output torque
The off et i adju ted in the ERVOPACK.
Off et adju tment range: −127 to +127
Torque
(Torque reference: −1,905 mV to 1,905 mV,
reference
Off et etting unit: 15.0 mV)
voltage
6.7 Torque Control
6
6-41