Yaskawa FSP Amplifier - Manual (Page 211)

FSP Amplifier User’s Manual Chapter 7: Using the Panel Operator
7-20
7.2.3. Automatic Adjustment of Speed and Torque Reference
Offset
When speed and torque control are used, the motor 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 small offset (measured in mV) in
the reference voltage.
The Automatic Reference Offset Adjustment mode automatically measures
the offset and adjusts the reference voltage. It adjusts both the speed and
torque references.
The following diagram illustrates the automatic adjustment of an offset in
the reference voltage by the servo amplifier.
Offset
Reference
voltage
Reference
voltage
Reference speed
or torque
Offset corrected
By FSP Amplifier
Reference speed
or torque
Offset adjustment
After completion of the automatic offset adjustment, the new offset value is
stored in the servo amplifier.
The offset value can be checked in the Speed Reference Offset Manual
Adjustment mode. Refer to 7.2.4 Manual Adjustment of the Speed and
Torque Reference Offset for details.
The Automatic Reference Offset Adjustment mode cannot be used to set
error pulses to zero for a stopped servo amplifier when a position loop is
formed with a host controller. In such cases, use the Manual Reference
Offset Adjustment mode. Refer to 7.2.4 Manual Adjustment of the Speed
and Torque Reference Offset for details.
The zero-clamp speed control function is available to force the motor to
stop while the zero speed reference is given. Refer to 5.4.3 Using the Zero
Clamp Function.
IMPORTANT
• Automatic adjustment of the speed/torque reference offset must be performed in the servo OFF
state.