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4-138

4-11-5 Command Offset Adjustment

• When operating in the Speed Control and Torque Control Modes, the Servomotor may rotate slightly

even if an analog command voltage of 0 V (command value zero) is input. This is due to small offset

amounts (in the order of mV) in the Host Controller and external circuits command voltage.

• If using speed control or torque command control, be sure to adjust the offset to zero.

• Use one of the following methods to adjust the command offset.

• Speed and torque command offset automatic adjustment (Fn009)

• Speed command offset manual adjustment (Fn00A) and torque command offset manual adjust-

ment (Fn00b).

H Speed and Torque Command Offset Manual Adjustment (Fn009)

• This function adjusts automatically both the speed command and torque command.

• When the offset is adjusted, the offset amount is stored in internal driver memory. You can also check

this offset amount using manual adjustment (Fn00A or Fn00b).

Note Make sure the servo is turned OFF before performing speed and torque command offset auto-

matic adjustment. Consequently, you cannot use automatic adjustment with a status that in-

cludes position loop using the Host Controller (i.e., when the servo is ON). Use manual adjust-

ment if you want to adjust the deviation pulse to zero when the servolock is ON and includes a

position loop using the Host Controller.

System Check Mode

Speed and torque com-

mand offset automatic

adjustment

Display offset automatic ad-

justment (rEF_o displayed)

Perform automatic ad-

justment

Automatic adjustment com-

pleted (“donE” flashes)

(1 s later)

Returns to rEF_o display

1 s min.

Operation Chapter 4

Omron R88D-WT User Manual

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