5 Operation5.5.2 Reference Offset Adjustment5-44(2) Parameter SettingUsing Pn400, set the analog voltage level for the torque reference (T-REF) that is necessary to operate the ser-vomotor at the rated torque.Note: A torque reference above the rated torque can be applied but it may cause an overload (high load) alarm (A.710) oroverload (low load) alarm (A.720) if excessive torque is output for a long time. Refer to 9.1.2 Troubleshooting ofAlarms.5.5.2 Reference Offset AdjustmentIn torque control, the servomotor may rotate at a very low speed with a voltage reference of 0 V. This occursbecause the internal reference in the multi-winding drive unit has a slight offset of a few millivolts. It is called"offset."If the servomotor rotates at a very low speed, the offset needs to be eliminated with the offset adjustment func-tion.Use either automatic adjustment or manual adjustment. Automatic adjustment uses the automatic adjustmentparameter for reference offset (Fn009). Manual adjustment uses the manual adjustment parameter for refer-ence offset (Fn00B).Pn400Torque Reference Input Gain ClassificationSetting Range Setting Unit Factory Setting When Enabled10 to 100 0.1 V/rated torque 30(Rated torque at 3.0 V) Immediately SetupSpeed Position TorqueTorque reference voltage (V)(Rated torque)300200100-300-200-1001 3 10 120-3-10-12Setting range(1.0 to 10.0 V)Factory SettingOutput torque (%)Input voltage range (0 to ±12 V)Output torque Output torqueOffsetOffset adjustmentTorquereferencevoltageTorquereferencevoltageThe offset is adjusted in the multi-windingdrive unit.Offset Adjustment Range: -127 to +127(Torque Reference: -1905 mV to 1905 mVOffset Setting Unit: 15.0 mV)
