Adjusting The Reference Offset - YASKAWA E-II Series User Manual

8 Operation

8.7.3 Adjusting the Reference Offset

8.7.3 Adjusting the Reference Offset

(1) Automatic Adjustment of the Torque Reference Offset
When using torque control, the servomotor may rotate slowly even when 0 V is specified as the analog reference
voltage. This occurs when the host controller or external circuit has a slight offset (measured in mV) in the refer-
ence voltage. In this case, the reference offset can be adjusted automatically and manually using the panel oper-
ator or digital operator.
The automatic adjustment of analog (speed, torque) reference offset (Fn009) automatically measures the offset
and adjusts the reference voltage.
The SERVOPACK performs the following automatic adjustment when the host controller or external circuit has
an offset in the reference voltage.
Reference voltage
After completion of the automatic adjustment, the amount of offset is stored in the SERVOPACK. The amount of
offset can be checked in the manual adjustment of torque reference offset (Fn00B).
The automatic adjustment of analog reference offset (Fn009) cannot be used when a position loop has been
formed with the host controller and the error pulse is changed to zero at the servomotor stop due to servolock.
Use the torque reference offset manual adjustment (Fn00B).
IMPORTANT
Use the following procedure for automatic adjustment of the torque reference offset.
Display after
Step
Operation
1
Host
controller
2
3
4
5
6
7
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Offset
Torque
reference
Automatic
offset
adjustment
The analog reference offset must be automatically adjusted with the servo OFF.
Digital
Operator Operator
Servo-
SERVO-
motor
0-V speed
PACK
reference or
torque
reference
Slow rotation
Servo OFF
(Servo ON)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
(DATA/SHIFT Key)
(Press at least 1 s.)
DSPL
SET
MODE/SET
(DSPL/SET Key)
(MODE/SET Key)
About one second later
DATA
ENTER
(DATA/ENTER Key)
(DATA/SHIFT Key)
(Press at least 1 s.)
Reference voltage
Torque
reference
Panel
Turn OFF the SERVOPACK, and input the 0-V reference voltage
from the host controller or external circuit.
Press the DSPL/SET or MODE/SET Key to select the utility
function mode.
Press the LEFT/RIGHT or UP/DOWN Key, or UP or DOWN
Key to select parameter Fn009.
*The digit that can be set will blink.
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
DATA/ more than one second. "rEF_o" will be displayed.
Press the DSPL/SET or MODE/SET Key.
The reference offset will be automatically adjusted.
When completed, "donE" will blink for about one second.
After "donE" is displayed, "rEF_o" will be displayed again.
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second to return to the Fn009 display of the utility
DATA/
function mode.
Offset automatically
adjusted in SERVOPACK.
Description