Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 258)

8 Fully-closed Loop Control
8.3.1 Motor Rotation Direction
8-16
(3) Relation between Motor Rotation Direction and External Encoder Pulse Phases
Refer to the table below.
• Set Pn002.3 to 1 (forward rotation with forward reference) if the output of the external encoder is cos lead
and the motor is turning counterclockwise; set Pn002.3 to 3 (reverse rotation with forward reference) if it is
sin lead. When Pn000.0 is set to 0 and Pn002.3 to 1, manually turn the motor shaft counterclockwise. If the
fully-closed feedback pulse counter (Un00E) counts up, set Pn002.3 to 1. If the Un00E counts down, set
Pn002.3 to 3.
• The output pulses are phase-B advanced if the motor is turning forward regardless of the setting in Pn000.0.
Parameter
Pn002.3 (External Encoder Usage)
1 3
Pn000.0
(Motor
rotation
direction)
0
Reference
direction Forward
reference
Reverse
reference
Forward
reference
Reverse
reference
Motor rotation
direction
CCW CW CCW CW
External encoder
output
cos lead sin lead sin lead cos lead
Encoder output pulse
Phase B
lead
Phase A
lead
Phase B
lead
Phase A
lead
1
Reference
direction Forward
reference
Reverse
reference
Forward
reference
Reverse
reference
Motor rotation
direction
CW CCW CW CCW
External encoder
output
sin lead cos lead cos lead sin lead
Encoder output pulse
Phase B
lead
Phase A
lead
Phase B
lead
Phase A
lead