Motor Rotation Direction - YASKAWA Sigma-V Series User Manual

9 Fully-closed Loop Control

9.3.1 Motor Rotation Direction

9.3.1

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.
0
Sets CCW as forward
direction.
[Factory setting]
Pn000
n.
1
Sets CW as forward
direction.
(Reverse Rotation
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
∗
The mode will be switched to semi-closed position control if Pn002 is set to n.0
9-14
Forward/
Reverse Direction of Motor Rotation and Encoder Output Pulse
Reference
Forward
Reference
Reverse
Reference
Forward
Reference
Reverse
Reference
CCW
Name
Do not use external encoder.
Uses external encoder in standard rotation direc-
External Encoder tion.
Usage
Reserved (Do not set.)
Uses external encoder in reverse rotation direction.
Reserved (Do not set.)
Motor speed
+
Torque reference
Encoder output pulse
PAO
Time
PBO
CCW
Motor speed
Motor speed
+
Torque reference
PAO
Time
PBO
Motor speed
CW
Motor speed
+
Torque reference
PAO
Time
PBO
CW
Motor speed
Motor speed
+
Encoder output pulse
Torque reference
PAO
Time
PBO
Motor speed
Meaning
*
P-OT
Phase B
advanced
Encoder output pulse
N-OT
Phase A
advanced
Encoder output pulse
P-OT
Phase B
advanced
Phase A
N-OT
advanced
When
Classification
Enabled
After restart
.
Applicable
Overtravel
(OT)
Setup