Yaskawa DR2 Sigma Servo - Manual (Page 120)

3.4 Setting Stop Mode
107
3.4 Setting Stop Mode
This section describes how to stop the motor properly.
3.4.1 Adjusting Offset 107 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.2 Using Dynamic Brake 108 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.3 Using Zero-Clamp 109 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.4 Using Holding Brake 110 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.1 Adjusting Offset
1) “Why does not the motor stop?”
When 0 V is specified as reference voltage for Servopack for speed/torque control, the
motor may rotate at a very slow speed and fail to stop. This happens when reference volt-
age from the host controller or external circuit has a slight reference offset (in mV units). If
this offset is adjusted to 0 V, the motor will stop.
When reference voltage from the host
controller or external circuit has an offset
Offset
Offset adjustment
Offset is corrected
by the Servopack. Reference
voltage
Reference
speed or
reference torque
Reference
voltage
Reference speed
or reference torque
2) The following two methods can be used to adjust the reference offset to 0 V.
1) Automatic adjustment of
reference offset
Reference offset is automatically adjusted to 0 V.
2) Manual adjustment of reference
offset
Reference offset can be intentionally set to a
specified value.
NOTE If a position control loop is formed in the host controller, do not use automatic adjustment
in 1. Always use manual adjustment in 2.
3