Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors MECHATROLINK-III Communications Reference - Manual (Page 92)

4 Operation
4.3.1 Servomotor Movement Direction
4-4
4.2 MECHATROLINK-III Commands
For information on the MECHATROLINK-III commands, refer to Σ -V Series User’s Manual MECHA-
TROLINK-III Standard Servo Profile Commands (SIEP S800000 63).
4.3 Basic Functions Settings
4.3.1 Servomotor Movement Direction
The servomotor movement direction can be reversed with parameter Pn000.0 without changing the polarity of
the speed/position reference. This causes the movement direction of the servomotor to change, but the polarity
of the signal, such as encoder output pulses, output from the SERVOPACK does not change. (refer to 4.4.4
Encoder Output Pulses)
Before performing this operation, Motor Phase (Pn080.1) must be set correctly. For the setting method, refer
to
Σ -V Series User’s Manual, Setup, Linear Motor (No.: SIEP S800000 44).
Note: SigmaWin+ trace waveforms are shown in the above table.
Parameter
Forward/
Reverse
Reference
Direction of Motor Movement and Encoder Output Pulse
Applicable
Overtravel (OT)
Pn000
n. 0
The linear scale
counts up by a
forward reference.
[Factory setting]
Forward
Reference
P-OT
Reverse
Reference
N-OT
n. 1
The linear scale
counts up by a
reverse reference.
Forward
Reference
P-OT
Reverse
Reference
N-OT
Phase B
advanced
Time
Encoder output pulse
PAO
PBO
Motor speed
Force reference
Motor speed
+
Moves in
forward
direction
Phase A
advanced
Time
Encoder output pulse
Motor speed
Force reference
Motor speed
PAO
PBO
+
Moves in
reverse
direction
PAO
PBO Phase B
advanced
Encoder output pulse
Motor speed
Force reference
Motor speed
+
Time
Moves in
reverse
direction
Phase A
advanced
Encoder output pulse
PAO
PBO
+
Time
Motor speed
Force reference
Motor speed
Moves in
forward
direction