Parameter Settings For Fully-Closed Loop Control; Motor Rotation Direction - YASKAWA SGMJV User Manual

8.3.1 Motor Rotation Direction

The motor rotation direction can be set. To perform fully-closed loop control, it is necessary to set the motor
rotation direction with both Pn000.0 (motor rotation direction) and Pn002.3 (external encoder usage).
(1) Setting Parameter Pn000.0
The standard setting for forward rotation is counterclockwise (CCW) as viewed from the load end of the ser-
vomotor.
Parameter
n.
Sets CCW as
forward direc-
tion.
[Factory setting]
Pn000
n.
Sets CW as for-
ward direction.
(Reverse Rota-
tion Mode)
Note: SigmaWin+ trace waveforms are shown in the above table.
(2) Setting Parameter Pn002.3
Parameter
n.0
[Factory setting]
n.1
Pn002
n.2
n.3
n.4
*1. The mode will change to semi-closed loop control if this setting is used.
∗2. Determine the set value in Pn002.3 with the following procedure.
• Set Pn000 to n.0 and Pn002 to n.1.
• Move the motor shaft by hand counterclockwise.
• If the fully-closed feedback pulse counter (Un00E) counts up, leave the setting of Pn002 as it is
(Pn002 = n.1).
• If the fully-closed feedback pulse counter (Un00E) counts down, set Pn002 to n.3.
Forward/
Reverse Direction of Motor Rotation and Encoder Output Pulse
Reference
Forward
Reference
0
CCW
Reverse
Reference
CW
Forward
Reference
1
CW
Reverse
Reference
CCW
Name
Do not use external encoder.
Uses the external encoder in motor
CCW direction rotation and exter-
nal encoder forward direction.
External Encoder
Usage Reserved (Do not set.)
Uses the external encoder in motor
CCW direction rotation and exter-
nal encoder reverse direction.
Reserved (Do not set.)

8.3 Parameter Settings for Fully-closed Loop Control

Motor speed
+
Torque reference
Encoder output pulse
PAO
Time
PBO
Motor speed
Motor speed
+
Encoder output pulse
Torque reference
PAO
Time
PBO
Motor speed
Motor speed
+
Torque reference
Encoder output pulse
PAO
Time
PBO
Motor speed
+ Motor speed
Encoder output pulse
Torque reference
PAO
Time
PBO
Motor speed
Meaning
*1
*2
*2
Applicable
Overtravel
(OT)
P-OT
Phase B
advanced
Phase A
N-OT
advanced
P-OT
Phase B
advanced
Phase A
N-OT
advanced
When
Classification
Enabled
After restart Setup
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