Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 246)

6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F)
6-19
6
Util
ity Fu
nctions (Fn
)
6.11 Manual Offset-Signal Adjustment of the Motor Current
Detection Signal (Fn00F)
Use this function only if the torque ripple is still high after the automatic offset-signal adjustment of the motor
current detection signal (Fn00E).
Note: The adjusted value is not initialized by executing the Fn005 function (Initializing Parameter Settings).
(1) Preparation
The following condition must be met to manually adjust the offset of the motor current detection signal.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
(2) Operating Procedure
Use the following procedure.
If this function is adjusted incorrectly and then executed, characteristics of the servomo-
tor performance could be affected.
Observe the following precautions when performing manual servo tuning.
• Run the servomotor at a speed of approximately 100 min -1 .
• Adjust the offset while monitoring the torque reference with the analog monitor until
the ripple of torque reference monitor's waveform is minimized.
• Adjust the phase-U and phase-V offset amounts alternately several times until these
offsets are well balanced.
Step Display after Operation Keys Operation
1
Press the Key to view the main menu for the
utility function.
Use the
or Key to move through the list and
select Fn00F.
2
Press the Key.
The display changes to the Fn00F execution display.
3 Send an SV_ON command from the host controller.
4
Adjust the phase-U offset.
Press the
or Key to adjust the offset
amount.
Adjust the offset amount by 10 in the direction that
the torque ripple is reduced.
Adjustment range: -512 to +511
(ZADJIU: Offset value of phase-U current)
5
Adjust the phase-V offset.
Press the
Key. The cursor moves to the phase-V
side.
6
Press the or Key to adjust the offset
amount.
Adjust the offset amount by 10 in the direction that
the torque ripple is reduced.
Adjustment range: -512 to +511
(ZADJIV: Offset value of phase-V current)
B B − F U N C T I O N −
F n 0 0 F : C u r M a n u A d j
F n 0 1 0 : P r m P r o t e c t
F n 0 1 1 : M o t o r I n f o
F n 0 1 2 : S o f t V e r
B B
M a n u a l O f f s e t
− A D J
o f M o t o r C u r r e n t
Z A D J I U = - 0 0 0 0 9
Z A D J I V = - 0 0 0 0 6
R U N
M a n u a l O f f s e t
− A D J
o f M o t o r C u r r e n t
Z A D J I U = - 0 0 0 0 9
Z A D J I V = - 0 0 0 0 6
R U N
M a n u a l O f f s e t
− A D J
o f M o t o r C u r r e n t
Z A D J I U = - 0 0 0 1 9
Z A D J I V = - 0 0 0 0 6
R U N
M a n u a l O f f s e t
− A D J
o f M o t o r C u r r e n t
Z A D J I U = - 0 0 0 1 9
Z A D J I V = - 0 0 0 0 6
R U N
M a n u a l O f f s e t
− A D J
o f M o t o r C u r r e n t
Z A D J I U = - 0 0 0 1 9
Z A D J I V = - 0 0 0 1 6