Omron SYSMAC CS1G Operation Manual page 212

Servo Parameter
Setting for Reverse Rotations
Motor rotation direction
seen from the load side
during forward rotation
command
CCW direction
CW direction
Phase A
Phase B
Electronic gear
Position command
Encoder position
Phase relations of the
full-closed PG input
during forward rotation
Diagram 8.3
Diagram 8.4
Diagram 8.3
Diagram 8.4
Full-closed PG input
Time
Diagram 8.3
Elec-
Position error
tronic
counter
gear
Elec-
tronic
gear
Pn000.0 setting Pn002.3 setting Full-closed PG input phase
0 1,2
3,4
1 1,2
3,4
Full-closed PG input
Phase A
Phase B
Speed/Current
loop
× 4
Section 4-8
relations during CCW
direction rotation seen from
the load side
Diagram 8.3
Diagram 8.4
Diagram 8.4
Diagram 8.3
Time
Diagram 8.4
Motor Machine
Full-closed
PG
PG
189