Yaskawa DR2 Sigma Servo - Manual (Page 208)

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4.2 Using the Functions
195
4.2.4 Reference Offset Automatic Adjustment
1) Why Does Reference Offset Occur?
Using a speed/torque control, the motor may rotate slowly when the reference voltage is
intended to be 0 V.
This occurs when the host controller or external circuit has a small offset (measured in
mV) in the reference voltage.
Automatic Adjustment of Reference Voltage
The reference offset automatic adjustment mode automatically measures the offset and
adjusts the reference voltage. It adjusts both speed and torque references.
The following diagram illustrates automatic adjustment of an offset in the reference
voltage from the host controller or external circuit.
Reference
Voltage
Reference
Speed or
Reference
Torque
Offset
Automatic Adjustment
of Offset
Reference
Voltage
Offset
Automatically
Adjusted in
Servopack
Reference
Speed or
Reference
Torque
2) After completion of offset automatic adjustment, the amount of offset is stored in the
Servopack.
The amount of offset can be checked in the speed reference offset manual adjustment
mode. Refer to sub-section 4.2.5 for details.
4
Speed/Torque