Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

8.7 Operating Using Torque ControlStepUse the following procedure for automatic adjustment of the torque reference offset.Display afterOperationDigitalOperatorPanelOperatorDescription1 Turn OFF the SERVOPACK, and input the 0-V reference voltageSERVO- Servomotorfrom the host controller or external 0-V speedcircuit.2 Press the DSPL/SET or MODE/SET Key to select the utilityDSPLSETfunction mode.(DSPL/SET Key)3 Press the LEFT/RIGHT or UP/DOWN Key, or UP or DOWNKey to select parameter Fn009.*The digit that can be set will blink.4 Press the DATA/ENTER Key once, or DATA/SHIFT Key formore than one second. “rEF_o” will be displayed.5 Press the DSPL/SET or MODE/SET Key.6HostcontrollerPACKreference ortorquereferenceServo OFFDATAENTER(DATA/ENTER Key)DSPLSET(DSPL/SET Key)Slow rotation(Servo ON)MODE/SET(MODE/SET Key)DATA/(DATA/SHIFT Key)(Press at least 1 s.)About one second laterThe reference offset will be automatically adjusted.When completed, “donE” will blink for about one second.After “donE” is displayed, “rEF_o” will be displayed again.7 Press the DATA/ENTER Key once, or DATA/SHIFT Key forDATAENTERmore than one second to return to the Fn009 display of the utilityfunction mode.(DATA/ENTER Key)MODE/SET(MODE/SET Key)DATA/(DATA/SHIFT Key)(Press at least 1 s.)(2) Manual Adjustment of the Torque Reference OffsetManual 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 referenceoffset.This mode operates in the same way as the automatic adjustment mode (Fn009), except that the amount of offsetis directly input during the adjustment.The offset adjustment range and setting units are as follows:8Offset Setting UnitOffset AdjustmentRangeTorque ReferenceAnalogInputVoltageOffset Adjustment Range: -128 to +127(Torque reference: -1881.6 mV to +1866.9 mV)Offset Setting UnitTorque reference: 1 = 14.7 mV8-63