Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-III Communication Reference User Manual
Page 304
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 to n.1
(forward rotation with forward reference) if the output of the external encoder is cos
lead and the motor is turning counterclockwise; set Pn002 to n.3
(reverse rotation with forward refer-
ence) if it is sin lead. When Pn000 is set to n.
0 and Pn002 to n.1
, manually turn the motor shaft
counterclockwise. If the fully-closed feedback pulse counter (Un00E) counts up, set Pn002 to n.1
. If
the Un00E counts down, set Pn002 to n.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