Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 360)

11.3 Using the Adjusting Command (ADJ: 3EH)
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11.3.4 Automatic Offset Adjustment of Motor Current Detection Signals
The offset adjustment of the motor current detection signals has already been made before shipping the product.
Therefore, it is not necessary for the users to make any adjustment. Use the automatic offset adjustment only if
the torque ripple due to current offset is considered abnormally high or the torque ripple needs to be reduced to
achieve higher accuracy.
The adjustment procedure is outlined below.
The automatic adjustment is possible only when the Servo is set to OFF with the main circuit power turned ON.
1. By setting byte 1 of the MECHATROLINK II command field to ADJ (3EH) and byte 2 to 00H, the
following command field can be set.
2. Send the following data in each command field.
Set “01H” (Data setting) in the CCMD field.
Set “2000H” in the CADDRESS field.
Set “100EH” in the CDATA field.
3. CMDRDY of STATUS is set to 1, and CADDRESS and CDATA of the response are confirmed to be the
same as those of the command.
The automatic offset adjustment of motor current detection signals will be enabled.
4. Continue by using the following data.
Set “01H” (Data setting) in the CCMD field.
Set “2001H” in the CADDRESS field.
Set “01H” (Execute) in the CDATA field.
5. CMDRDY of STATUS is set to 1, and CADDRESS and CDATA of the response are confirmed to be the
same as those of the command. (It takes 1 second maximum until CMDRDY is set to 1.)
This completes setting up the automatic offset adjustment of the motor current detection signals.
Command Response
5 CCMD CANS CCMD: Command
CANS: Answer
CADDRESS: Setting/reference address
CDATA: Setting/reference data
6 CADDRESS CADDRESS
7
8
CDATA CDATA
9
INFO