4 offset adjustment, 5 torque reference filter time constant – Yaskawa Sigma Mini User Manual
Page 92
APPLICATIONS
2.5.5 Torque Reference Filter Time Constant
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2.5.4 Offset Adjustment
If reference voltage from the host controller or external circuit has an offset in the vicinity of 0
V, smooth operation cannot be expected. Adjust the reference offset to 0 V.
Offset
Offset adjustment
Reference
voltage
Offset is corrected by
the Servopack.
Reference
speed or
reference
torque
When Reference Voltage from Host Controller or External Circuit has an Offset
Reference
voltage
Reference
speed or
reference
torque
Reference Offset Adjustment
The following two methods are available to adjust the reference offset to 0 V.
Automatic adjustment of reference
offset
Reference offset is automatically adjusted.
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.
Always use manual adjustment.
For detailed adjustment procedures, refer to the following sections:
Adjustment Method
Section
Automatic adjustment of reference
offset
3.2.4 Reference Offset Automatic Adjustment Mode.
Manual adjustment of reference offset
3.2.5 Speed Reference Offset Manual Adjustment
Mode.
2.5.5 Torque Reference Filter Time Constant
If the machine causes vibration, possibly resulting from the Servo Drive, adjust the following
filter time constant. Vibration may stop.
Cn-17
TRQFIL Torque Reference
Filter Time Constant
Unit:
100 µs
Setting
Range:
0 to 250
Factory
Setting:
4
For Speed/Torque
Control and
Position Control
Cn-17 is a torque reference filter time constant for the Servopack. The smaller the value, the
higher the torque control response. There is, however, a certain limit depending on machine
conditions.
With the standard setting, the machine may cause vibration resulting from the Servo Drive. In
this case, increase the constant setting. Vibration may stop. Vibration can be caused by prob-
lems such as incorrect gain adjustment and machine malfunction.
2
Speed/Torque