Reference Offset Adjustment - YASKAWA SGDV User Manual

(2) Parameter Setting
Using Pn400, set the analog voltage level for the torque reference (T-REF) that is necessary to operate the ser-
vomotor at the rated torque.
Torque Reference Input Gain
Setting Range
Pn400
-12
Factory Setting
Note: A torque reference above the rated torque can be applied but it may cause an overload (high load) alarm (A.710) or
overload (low load) alarm (A.720) if excessive torque is output for a long time. Refer to 9.1.2 Troubleshooting of
Alarms.

5.5.2 Reference Offset Adjustment

In control, the servomotor may rotate at a very low speed with a voltage reference of 0 V. This occurs
torque
because the internal reference voltage of the SERVOPACK has a slight offset of a few millivolts. It is called
"offset."
If the servomotor rotates at a very low 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 reference offset (Fn009). Manual adjustment uses the manual adjustment parameter for refer-
ence offset (Fn00B).
Output torque
Offset
Torque
reference
voltage
Setting Unit
10 to 100 0.1 V
Output torque (%)
300
200
100
-10 -3 0
1 3
-100
-200
-300
Setting range
(1.0 to 10.0 V)
Input voltage range (0 to ±12 V)
Output torque
Offset adjustment
5.5 Torque Control (Analog Voltage Reference)
Speed Position
Factory Setting
30
(Rated torque at 3.0 V)
Analog
(Rated torque)
Torque reference voltage (V)
10 12
The offset is adjusted in the SERVOPACK.
Offset Adjustment Range: −127 to +127
Torque
(Torque Reference: −1905 mV to 1905 mV
reference
Offset Setting Unit: 15.0 mV)
voltage
Torque
Classification
When Enabled
Immediately Setup
Analog
5
5-41