Motor Direction Setting - YASKAWA SGD7S-1R9D Product Manual

5.4 Motor Direction Setting

5.4

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 6-18
• Rotary Servomotors
The default setting for forward rotation is counterclockwise (CCW) as viewed from the load end of the Servomotor.
Pn000
(2000
hex)
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.
Pn000
(2000
hex)
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.
5-14
Forward/Reverse
Parameter
Reference
Forward

n. 0
reference
Use CCW as
the forward
direction.
Reverse
(default setting)
reference
Forward

n. 1
reference
Use CW as the
forward direc-
tion.
(Reverse Rota-
Reverse
tion Mode)
reference
Forward/Reverse
Parameter
Reference

n. 0
Forward
Use the direc-
reference
tion in which
the linear
encoder counts
up as the for-
Reverse
ward direction.
reference
(default setting)

n. 1
Forward
Use the direc-
reference
tion in which
the linear
encoder counts
down as the
Reverse
forward direc-
reference
tion.
Motor Direction and Encoder Divided Pulse Outputs
+
Encoder Divided Pulse Outputs
Torque reference
PAO
Time
CCW
PBO
Motor speed
+
Torque reference Encoder Divided Pulse Outputs
Time
PAO
Motor speed
PBO
CW
+
Torque reference Encoder Divided Pulse Outputs
PAO
Time
CW
Motor speed PBO
+
Encoder Divided Pulse Outputs
Torque reference
Time
CCW
Motor speed
Motor Moving Direction and Encoder Divided Pulse
Outputs
+
Force reference
Moves in the
Time
count-up
Motor speed
direction.
+
Force reference
Moves in the Time
count-down
direction.
Motor speed
+
Force reference
Time
Moves in the
count-down
Motor speed
direction.
+
Force reference
Time
Moves in the
count-up
Motor speed
direction.
Phase-B lead
Phase-A lead
Phase-B lead
Phase-A lead
PAO
PBO
Encoder Divided Pulse Outputs
PAO
PBO Phase-B lead
Encoder Divided Pulse Outputs
Phase-A lead
PAO
PBO
Encoder Divided Pulse Outputs
PAO
Phase-B lead
PBO
Encoder Divided Pulse Outputs
PAO Phase-A lead
PBO
Applicable
Overtravel Signal (OT)
P-OT (For-
ward Drive
Prohibit) sig-
nal
N-OT
(Reverse
Drive Pro-
hibit) signal
P-OT (For-
ward Drive
Prohibit) sig-
nal
N-OT
(Reverse
Drive Pro-
hibit) signal
Applicable
Overtravel Signal (OT)
P-OT (For-
ward Drive
Prohibit) signal
N-OT
(Reverse Drive
Prohibit) signal
P-OT (For-
ward Drive
Prohibit) signal
N-OT
(Reverse Drive
Prohibit) signal