Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 222)

6 Utility Functions (Fn )
6-20
6.11 Manual Offset-Signal Adjustment of the Motor Current
Detection (Fn00F)
Use this function only if the torque ripple is still high after the automatic offset adjustment of the motor cur-
rent detection signal (Fn00E).
Follow the steps below.
If this function is executed carelessly, it may worsen the characteristics.
Observe the following precautions when performing manual servo tuning.
• Run the servomotor at a speed of approximately 100 min
-1
.
• Adjust the offset until the torque reference monitor ripple is minimized, monitoring the
torque reference by using the analog monitor.
• Adjust the phase-U and phase-V offsets alternately several times until these offsets
are well balanced.
Step Display Example Keys Description
1
Press the Key to open the Utility Function Mode
main menu and select Fn00F.
2
Press the Key. The display is switched to the
execution display of Fn00F.
Note: If the display is not switched and “NO-OP” is
displayed in the status display, the Write Prohib-
ited Setting (Fn010 = 0001) is set. Check the
setting and reset. (Refer to 6.12.)
3
Press the or Key to adjust the offset amount
of phase-U.
Adjust the offset amount by 10 in the direction that
the torque ripple is reduced.
Adjustment range: -512 to +511
4
Press the Key. The cursor moves to the phase-V
side.
5
Press the or Key to adjust the offset amount
of phase-V.
Adjust the offset amount by 10 in the direction that
the torque ripple is reduced.
Adjustment range: -512 to +511
6
Repeat the above operations (phase-U and-V alternately) until adjusting the offset amounts both for phase-U and
-V in both directions cannot reduce the torque ripple any more.
Then, perform the same operation by adjusting by smaller amount.
7
Press the Key to save the result of adjustment in
the SERVOPACK.
When the saving is completed, “DONE” is displayed
in the status display.
8
Press the Key to return to the Utility Function
Mode main menu.
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