Motor Direction Setting - YASKAWA SGD7S Product Manual

5.5

Motor Direction Setting

You can reverse the direction of Servomotor rotation by changing the setting of Pn000 =
n.X (Direction Selection) without changing the polarity of the speed or position reference.
This causes the rotation direction of the motor to change, but the polarity of the signals, such
as encoder output pulses, output from the SERVOPACK do not change. Set the appropriate
direction for your system.
Refer to the following section for details on the encoder divided pulse output.
6.5 Encoder Divided Pulse Output on page 6-19
• Rotary Servomotors
The default setting for forward rotation is counterclockwise (CCW) as viewed from the load end
of the Servomotor.
Parameter

n.
Use CCW as
the forward
direction.
(default setting)
Pn000

n.
Use CW as the
forward direc-
tion.
(Reverse Rota-
tion Mode)
Note: The trace waveforms of the SigmaWin+ are shown in the above table for the torque reference and motor speed diagrams. If you
measure them on a measuring instrument, e.g., with an analog monitor, the polarity will be reversed.
'
• Linear Servomotors
Before you set this parameter, make sure that Pn080 = n.X (Motor Phase Sequence
Selection) is set correctly.
Parameter

n.
Use the direc-
tion in which
the linear
encoder counts
up as the for-
ward direction.
(default setting)
Pn000

n.
Use the direc-
tion in which
the linear
encoder counts
down as the
forward direc-
tion.
Note: The trace waveforms of the SigmaWin+ are shown in the above table for the force reference and motor speed diagrams. If you mea-
sure them on a measuring instrument, e.g., with an analog monitor, the polarity will be reversed.
Forward/Reverse
Motor Direction and Encoder Divided Pulse Outputs
Reference
Forward
0
reference
CCW
Reverse
reference
CW
Forward
1
reference
CW
Reverse
reference
CCW
Forward/Reverse Motor Moving Direction and Encoder Divided Pulse
Reference
0
Forward
Moves in the
reference
count-up
direction.
Reverse
Moves in the
reference
count-down
direction.
1
Forward
Moves in the
reference
count-down
direction.
Reverse
Moves in the
reference
count-up
direction.
+
Encoder Divided Pulse Outputs
Torque reference
PAO
Time
PBO
Motor speed
+
Torque reference Encoder Divided Pulse Outputs
Time
PAO
Motor speed
PBO
+
Encoder Divided Pulse Outputs
Torque reference
PAO
Time
Motor speed PBO
+
Encoder Divided Pulse Outputs
Torque reference
Time
PAO
PBO
Motor speed
Outputs
+
Force reference
Encoder Divided Pulse Outputs
PAO
Time
Motor speed
PBO
+
Encoder Divided Pulse Outputs
Force reference
Time
PAO
PBO
Motor speed
+
Force reference
Encoder Divided Pulse Outputs
Time
PAO
Motor speed
PBO
+
Force reference
Encoder Divided Pulse Outputs
Time
PAO
Motor speed
PBO

5.5 Motor Direction Setting

Applicable
Overtravel Signal (OT)
P-OT (For-
ward Drive
Prohibit) signal
Phase-B lead
N-OT
Phase-A lead
(Reverse Drive
Prohibit) signal
P-OT (For-
ward Drive
Prohibit) signal
Phase-B lead
N-OT
(Reverse Drive
Phase-A lead
Prohibit) signal
Applicable
Overtravel Signal (OT)
P-OT (For-
ward Drive
Prohibit) signal
Phase-B lead
N-OT
Phase-A lead (Reverse Drive
Prohibit) signal
P-OT (For-
ward Drive
Prohibit) signal
Phase-B lead
N-OT
(Reverse Drive
Phase-A lead
Prohibit) signal
5
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