YASKAWA SGDH, Руководство пользователя

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8.7 Operating Using Torque Control
8-63
8
Use the following procedure for automatic adjustment of the torque reference offset.
(2) Manual Adjustment of the Torque Reference Offset
Manual adjustment of the torque reference offset (Fn00B) is used in the following cases.
• If a position loop is formed with the host controller and the error is zeroed when servolock is stopped.
• To deliberately set the offset to some value.
• Use this mode to check the offset data that was set in the automatic adjustment mode of the torque refer-
ence offset.
This mode operates in the same way as the automatic adjustment mode (Fn009), except that the amount of offset
is directly input during the adjustment.
The offset adjustment range and setting units are as follows:
Step Display after
Operation
Digital
Operator
Panel
Operator
Description
1
Turn OFF the SERVOPACK, and input the 0-V reference voltage
from the host controller or external circuit.
2 Press the DSPL/SET or MODE/SET Key to select the utility
function mode.
3 Press the LEFT/RIGHT or UP/DOWN Key, or UP or DOWN
Key to select parameter Fn009.
*The digit that can be set will blink.
4
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second. “rEF_o” will be displayed.
5 Press the DSPL/SET or MODE/SET Key.
The reference offset will be automatically adjusted.
When completed, “donE” will blink for about one second.
6
About one second later
After “donE” is displayed, “rEF_o” will be displayed again.
7 Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second to return to the Fn009 display of the utility
function mode.
Servo-
motor
Slow rotation
(Servo ON)
SERVO-
PACK
Servo OFF
0-V speed
reference or
torque
reference
Host
controller
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
Offset Adjustment Range: - 128 to +127
(Torque reference: -1881.6 mV to +1866.9 mV)
Torque Reference
Offset Adjustment
Range
Offset Setting Unit
Analog
Input
Voltage
Offset Setting Unit
Torque reference: 1 = 14.7 mV