8.7 Operating Using Torque Control
8
Operation
8-65
(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:
Use the following procedure to manually adjust the torque reference offset.
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
Step
Display after
Operation
Digital
Operator
Panel
Operator
Description
1
Press the DSPL/SET or MODE/SET Key to select the utility
function mode.
2
Press the LEFT/RIGHT or UP/DOWN Key or UP or DOWN Key
to select parameter Fn00B.
*The digit that can be set will blink.
3
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second. The display will be as shown at the left.
The manual adjustment mode for the torque reference offset will
be entered.
4
Servo ON
Turn ON the servo ON (/S-ON) signal. The display will be as
shown at the left.
5
Press the LEFT or RIGHT Key or DATA/SHIFT Key for less than
one second to display the torque reference offset amount.
6
Press the UP or DOWN Key to adjust the amount of offset.
7
Press the LEFT or RIGHT Key or DATA/SHIFT Key for less than
one second to return to the display shown on the left.
8
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second to return to the Fn00B display of the utility
function mode.
(DSPL/SET Key)
DSPL
SET
MODE/SET
(MODE/SET Key)
(DATA/ENTER Key)
DATA
ENTER
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
DATA/
(DATA/SHIFT Key)
(Less than 1 s.)
DATA/
(DATA/SHIFT Key)
(Less than 1 s.)
(DATA/ENTER Key)
DATA
ENTER
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
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