Yaskawa Sigma II Series DC Power Input SGMAJ - Manual (Page 234)

8.7 Operating Using Torque Control
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„ Checking the Internal Torque Reference
1. Checking the internal torque reference with the panel operator:
Use the Monitor Mode (Un-002). Refer to 7.4 Operation in Monitor Mode (Un ††† ).
2. Checking the internal torque reference with an analog monitor:
The internal torque reference can also be checked with an analog monitor. Refer to 9.5 Analog Monitor.
8.7.3 Adjusting the Reference Offset
(1) Automatic Adjustment of the Torque Reference Offset
When using torque control, the servomotor 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 slight offset (measured in mV) in the refer-
ence voltage. In this case, the reference offset can be adjusted automatically and manually using the digital oper-
ator.
The automatic adjustment of analog (speed, torque) 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 torque reference offset (Fn00B).
The automatic adjustment of analog reference offset (Fn009) cannot be used when a position loop has been
formed with the host controller and the error pulse is changed to zero at the servomotor stop due to servolock.
Use the torque reference offset manual adjustment (Fn00B).
The analog reference offset must be automatically adjusted with the servo OFF.
INFO
Offset
Torque
reference
Reference voltage Reference voltage
Offset automatically
adjusted in SERVOPACK.
Automatic
offset
adjustment
Torque
reference
IMPORTANT