Mitsubishi Electric MR-J4W2 Instruction Manual page 356

16. FULLY CLOSED LOOP SYSTEM
(3) Setting of load-side encoder polarity
CAUTION
(a) Parameter setting method
Set the load-side encoder polarity to be connected to CN2A or CN2B connector in order to match
the CCW direction of servo motor and the increasing direction of load-side encoder feedback.
(b) How to confirm the load-side encoder feedback direction
For the way of confirming the load-side encoder feedback direction, refer to (5) in this section.
Do not set an incorrect direction to "Encoder pulse count polarity selection" in [Pr.
PC27]. An abnormal operation and a machine collision may occur if an incorrect
direction is set, which cause a fault and parts damaged.
POINT
"Encoder pulse count polarity selection" in [Pr. PC27] is not related to [Pr. PA14
Rotation direction selection]. Make sure to set the parameter according to the
relationships between servo motor and linear encoder/rotary encoder.
Do not set an incorrect direction to "Encoder pulse count polarity selection" in
[Pr. PC27]. Doing so may cause [AL. 42 Fully closed loop control error] during
the positioning operation.
[Pr. PC27]
0 0 0
Servo motor
Linear encoder
Load-side encoder pulse count polarity selection
0: Load-side encoder pulse increasing direction in the servo motor CCW
1: Load-side encoder pulse decreasing direction in the servo motor CCW
Address increasing direction of linear encoder
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Servo motor CCW derection