5 Operation5.5.2 Reference Offset Adjustment5-48(2) Parameter SettingThis sets the analog voltage level for the torque reference (T-REF) that is necessary to operate the servomotorat the rated torque.Internal torque reference can be checked with the panel operator, an analog monitor or SigmaWin+.5.5.2 Reference Offset AdjustmentIn torque control, the servomotor may rotate at a very low speed with an analog voltage reference of 0 V. Thisoccurs because the reference voltage of the host controller or external circuit has a slight offset of a few milli-volts. 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).(1) Automatic Adjustment of Reference Offset (Fn009)The automatic adjustment of reference offset automatically measures the offset and adjusts the reference volt-age.Pn400Torque Reference Input Gain ClassificationSetting Range Setting Unit Factory Setting When Enabled10 to 100 0.1 V/rated torque 30 Immediately SetupSpeed Position TorqueInput voltage (V)Factory settingReference torque (%)The slope is set in Pn400.300200100- 300- 200- 1000 3 4 8 12- 4- 8- 12OffsetTorquereferenceInternaltorquereferenceInternaltorquereference Offset automaticallyadjusted in SERVOPACK.AutomaticoffsetadjustmentTorquereference
