Adjustment Of Reference Offset - YASKAWA E-V Series User Manual

(2) Parameter Setting
This sets the analog voltage level for the force reference (T-REF) that is necessary to operate the servomotor at
the rated force.
Force Reference Input Gain
Pn400
Setting Range
<Example>
Pn400 = 30: The servomotor operates at the rated force with 3 V
input [factory setting].
Pn400 = 100: The servomotor operates at the rated force with 10 V
input.
Pn400 = 20: The servomotor operates at the rated force with 2 V
input.

5.5.2 Adjustment of Reference Offset

In force control, the servomotor may move at a very low speed with an analog voltage reference of 0 V. This
occurs because the reference voltage of the host controller or external circuit has a minute offset of a few mil-
livolts. It is called "offset".
If the servomotor moves at a minute speed, the offset needs to be eliminated with the offset adjustment func-
tion.
Use either automatic adjustment or manual adjustment. Automatic adjustment uses the automatic adjustment
parameter for analog (speed and force) reference offset (Fn009). Manual adjustment uses the manual adjust-
ment parameter for force reference offset (Fn00B).
(1) Automatic Adjustment of Force Reference Offset
The automatic adjustment of force reference offset (Fn009) automatically measures the offset and adjusts the
reference voltage.
Reference voltage
Force
reference
After completion of the steps adjustment, the amount of offset is stored in the SERVOPACK.
Use the following steps for automatic adjustment of the force reference offset.
Setting Unit
10 to 100 0.1 V/rated force
Offset
Automatic
offset
adjustment
Automatic adjustment of the analog reference offset must be performed with the servo
OFF.
5.5 Operating Using Force Control with Analog Voltage Reference
Speed Position
Factory Setting When Enabled
30 Immediately
Reference force (V)
Rated force
Factory setting
-12 -8
Reference voltage
Offset automatically
adjusted in SERVOPACK.
Force
reference
Force
Classification
Setup
-4
4 8 12
Input voltage (V)
Rated force
5-43
5