YASKAWA SGMJV User Manual page 325

9 Fully-closed Loop Control
9.2.2 Motor Rotation Direction
(2) Parameter Pn002.3
Parameter
n.0
n.1
Pn002
n.2
n.3
n.4
Note 1. The mode will be switched to semi-closed position control if Pn002.3 is set to 0.
2. The direction for which the external encoder is counted up counter clockwise is defined as forward rotation.
3. The direction for which the external encoder is counted up clockwise is defined as forward rotation.
(3) Relation between Motor Rotating Direction and External Encoder Pulse Direction
Refer to the table below.
Pn000.0
(Motor
rotating
direction)
• Set Pn002.3 to 1 if the output of the external encoder is cos lead and the motor is turning counterclockwise;
set Pn002.3 to 3 if it is sin
terclockwise. If the Fully-closed Feedback Pulse Counter (Un00E) counts up, set Pn002.3 to 1. If the
Un00E counts down, set Pn002.3 to 3.
• If Pn002.3 is set to 1, encoder output pulse is phase B lead if the motor runs forward.
If Pn002.3 is set to 3, it is phase A lead if the motor turns forward.
9-12
Name
Do not use. [Factory setting]
Use external encoder in forward rotation direc-
∗2
tion.
External Encoder
Reserved (Do not set).
Usage
Use external encoder in reversed rotation direc-
∗3
tion.
Reserved (Do not set).
Parameter
Reference
direction
Motor rotating direc-
tion
0
External encoder out-
put
Encoder output pulse
Reference
direction
Motor rotating direc-
tion
1
External encoder
output
Encoder output pulse
. When Pn000.0 is set to 0 and Pn002.3 to 1, manually turn the motor coun-
lead
Meaning
∗1
Pn002.3 (External Encoder Usage)
1
Forward run Reverse run
reference reference
CCW CW
cos lead sin lead
Phase B Phase A
lead lead
Forward run Reverse run
reference reference
CW CCW
sin lead cos lead
Phase B Phase A
lead lead
When
Classification
Enabled
After restart Setup
3
Forward run Reverse run
reference reference
CCW CW
sin lead cos lead
Phase A Phase B
lead lead
Forward run Reverse run
reference reference
CW CCW
cos lead sin lead
Phase A Phase B
lead lead