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5.5 Force Control
5-51
(2) Parameter Setting
Using Pn400, set the analog voltage level for the force reference (T-REF) that is necessary to operate the ser-
vomotor at the rated force.
Note: A force reference above the rated force can be applied but it may cause an overload (high load) alarm (A.710) or
overload (low load) alarm (A.720) if excessive force is output for a long time. Refer to 9.1.2 Troubleshooting of
Alarms.
5.5.2 Reference Offset Adjustment
In force control, the servomotor may move at a very low speed with a voltage reference of 0 V. This occurs
because the internal reference voltage of the SERVOPACK has a slight offset of a few millivolts. It is called
"offset."
If the servomotor moves at a very low speed, the of
fset needs to be eliminated with the offset adjustment func-
tion.
Use either automatic adjustment or manual adjustment. Aut
omatic adjustment uses the automatic adjustment
parameter for reference offset (Fn009). Manual adjustment uses the manual adjustment parameter for refer-
ence offset (Fn00B).
Pn400
Force Reference Input Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
10 to 100 0.1 V/rated force
30
(Rated force at 3.0 V)
Immediately Setup
Force reference voltage (V)
(Rated force)
300
200
100
-300
-200
-100
1 3 10 12
0
-3 -10 -12
Setting range
(1.0 to 10.0 V)
Factory Setting
Output force (%)
Input voltage range (0 to ±12 V)
Output force Output force
Offset
Offset adjustment
Force
reference
voltage
Force
reference
voltage
The offset is adjusted in the SERVOPACK.
Offset Adjustment Range: −127 to +127
(Force Reference: −1905 mV to 1905 mV
Offset Setting Unit: 15.0 mV)
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