Yaskawa SGDH Linear Sigma Series - Manual (Page 305)

9.9 Operating Using Force Control
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„ Checking the Internal Force Reference
1. Checking the internal force reference with the panel operator:
Use the Monitor Mode (Un-002). Refer to 8.4 Operation in Monitor Mode (Unooo).
2. Checking the internal force reference with an analog monitor:
The internal force reference can also be checked with an analog monitor. Refer to 10.5 Analog Monitor.
9.9.3 Adjusting the Force Reference Offset
When using force control, the linear servomotor may move slowly even when 0 V is specified as the analog ref-
erence voltage. This occurs when the host controller or external circuit has a slight offset (measured in mV) in the
reference voltage. In this case, the reference offset can be adjusted automatically and manually using the panel
operator or digital operator.
The automatic adjustment of analog (speed, force) 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.
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 force reference offset (Fn00B).
(1) Automatic Adjustment of the Force Reference Offset
The automatic adjustment of analog reference offset (Fn009) cannot be used when a position loop has been
formed with the host controller. Use the force reference offset manual adjustment (Fn00B).
The analog reference offset must be automatically adjusted with the servo OFF.
INFO
Offset
Force
reference
Reference voltage Reference voltage
Offset automatically
adjusted in SERVOPACK.
Automatic
offset
adjustment
Force
reference
IMPORTANT