C.4 Automatic Offset Adjustment of Motor Current Detection Signals
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C
C.4 Automatic Offset Adjustment of
Motor Current Detection Signals
The offset adjustment of the motor current detection signals has already been made before ship-
ping the product. Therefore, it is not necessary for the users to make any adjustment. Use the
automatic offset adjustment only if the torque ripple due to current offset is considered abnor-
mally high or the torque ripple needs to be reduced to achieve higher accuracy.
The adjustment procedure is outlined below.
The automatic adjustment is possible only when the Servo is set to OFF with the main circuit power
turned ON.
1. By setting byte 1 of the MECHATROLINK-II command field to ADJ (3EH) and byte 2
to 00H, the following command field can be set.
2. Send the following data setting commands in each command field.
Set “01H” (Data setting) in the CCMD field.
Set “2000H” in the CADDRESS field.
Set “100EH” in the CDATA field.
3. After setting the data, send the command.
Confirm that the response is correct and that CMDRDY of STATUS is set to 1.
The automatic offset adjustment of motor current detection signals will be enabled.
4. Continue by using the following data setting command.
Set “01H” (Data setting) in the CCMD field.
Set “2001H” in the CADDRESS field.
Set “01H” (Execute) in the CDATA field.
5. After setting the data, send the command.
Approximately 2 seconds after sending, confirm that the response is correct and that
CMDRDY of STATUS is set to 1.
This completes setting up the automatic offset adjustment of the motor current detection sig-
nals.
Command
Response
5
CCMD
CANS
CCMD: Command
CANS: Answer
CADDRESS: Setting/reference
address
CDATA: Setting/reference data
6
CADDRESS
CADDRESS
7
8
CDATA
CDATA
9
INFO
