HarmonicDrive H A - 800A, Manual

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7-6 Details of tune mode
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AJ14: External speed command offset
During speed control, the motor may rotate slightly even when the input command voltage is set to 0V.
This problem may occur when the external command input voltage has an offset of a few mV. External
speed command offset is a function that absorbs this error to prevent slight rotation of the motor.
Set the input command voltage to 0V and change the offset value to find a value at which the motor
stops.
Use [T06: Automatic adjustment of speed command offset] to adjust automatically. For details, refer to
[T06: Speed command offset automatic adjustment] (P9-8).
Set value Function Unit Default
-9999 to 9999
Set the offset value for input command
voltage.
mV 0
AJ15: External torque command offset
During torque control, the motor may rotate slightly even when the input command voltage is set to 0V.
This problem may occur when the external command input voltage has an offset of a few mV. External
torque command offset is a function that absorbs this error to prevent slight rotation of the motor.
Set the input command voltage to 0V and change the offset value to find a value at which the motor
stops.
Use [T07: Automatic adjustment of torque command offset] to adjust automatically. For details, refer to
[T07: Torque command offset automatic adjustment] (P9-9).
Set value Function Unit Default
-9999 to 9999
Set the offset value for input command
voltage.
mV 0
AJ16: Speed monitor offset
Adjust the speed monitor output offset currently output to CN9.Though the speed monitor offset has
been adjusted at the factory, readjust it if necessary. The adjustment range of -2048 to 2047
corresponds to -10 to +10V.
This offset value is not initialized with parameter initialization and the value is retained.
Set value Function Unit Default
-2048 to 2047
Set the offset value for speed monitor
output.
-
*
*: The default value varies depending on the driver.
AJ17: Current monitor offset
Adjust the current monitor output offset currently output to CN9. Though the current monitor offset has
been adjusted at the factory, readjust it if necessary. The adjustment range of -2048 to 2047
corresponds to -10 to +10V.
This offset value is not initialized with parameter initialization and the value is retained.
Set value Function Unit Default
-2048 to 2047
Set the offset value for current monitor
output.
-
*
*: The default value varies depending on the driver.