YASKAWA E-7-Series SGD7S - Page 187

6.5 Speed Control
6.5.1 Basic Settings for Speed Control
6-18
Adjusting the Speed Reference Offset
With speed control, the Servomotor may sometimes rotate at a very low speed for a speed ref-
erence of 0 V (with a reference speed of 0 or when the speed reference is stopped). This
occurs because the internal reference in the SERVOPACK has a slight offset.
If the Servomotor moves at a very low speed, the offset needs to be eliminated by adjusting the
offset.
You can adjust the speed reference offset either automatically or manually.
 Automatically Adjusting the Speed Reference Offset
To automatically adjust the speed reference offset, the amount of offset is measured and the
speed reference voltage is adjusted automatically.
The measured offset is saved in the SERVOPACK.

Conditions for Automatically Adjusting the Speed Reference Offset
The following conditions must be met to automatically adjust the reference offset.
• The parameters must not be write prohibited.
• The servo must be OFF.
• There must not be a position loop in the host controller.

Applicable Tools
The following table lists the tools that you can use to automatically adjust the speed reference
offset and the applicable tool functions.

Operating Procedure
Use the following procedure to automatically adjust the speed reference offset.
1. Confirm that the servo is OFF in the SERVOPACK.
The offset does not use a parameter, so it will not change even if the parameter settings are
initialized.
Tool Function Operating Procedure Reference
Panel Operator Fn009
13.4.8
Autotune Analog (Speed/Torque) Reference Offset
(Fn009)
on page 13-17
Digital Operator Fn013
Σ-7-Series Digital Operator Operating Manual (Manual
No.: SIEP S800001 33)
SigmaWin+
Setup - Speed/Torque Ref-
erence Offset Adjustment
 Operating Procedure on page 6-18
Offset setting unit: 8
(speed reference: 0.47 mV)
15,000 (speed reference: 879 mV)
Offset adjustment range:
The offset is adjusted in the
SERVOPACK.
Speed
reference
voltage
Motor speed
Offset
adjustment
Speed
reference
voltage
Offset
Motor speed
Analog
Information