Yaskawa DR2 Sigma Servo - Manual (Page 210)

4.2 Using the Functions
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4) The reference offset automatic adjustment mode cannot be used where a position
loop is formed with the host controller and the error pulses are zeroed when servo lock is
stopped.
In this case, use the speed reference offset manual adjustment mode. Refer to sub-sec-
tion 4.2.5 for details.
Zero-clamp speed control is available to force the motor to stop during zero speed refer-
ence. Refer to sub-section 3.4.3 for details.
4.2.5 Speed Reference Offset Manual Adjustment Mode
1) Speed reference offset manual adjustment is available for the speed/torque control.
It is very convenient in the following situations:
• If a position loop is formed with the host controller and the error pulses are zeroed when
servo lock is stopped.
• To deliberately set the offset to some value.
This mode can also be used to check the data set in the reference offset automatic adjust-
ment mode.
In principle, this mode operates in the same way as the reference offset automatic adjust-
ment mode, except that the amount of offset is directly input during the adjustment.
The offset can be set for speed references only.
4
Speed/Torque