YASKAWA Sigma-V Series User Manual page 349

(3) Relation between Motor Rotation Direction and External Encoder Pulse Phases
Refer to the table below.
Parameter
Reference
direction
Motor rotation
direction
0
External encoder
output
Pn000.0
Encoder output pulse
(Motor
rotation
Reference
direction)
direction
Motor rotation
direction
1
External encoder
output
Encoder output pulse
• Set Pn002 to n.1
lead and the motor is turning counterclockwise; set Pn002 to n.3
ence) if it is sin lead. When Pn000 is set to n.
counterclockwise. If the fully-closed feedback pulse counter (Un00E) counts up, set Pn002 to n.1
the Un00E counts down, set Pn002 to n.3
• The output pulses are phase-B advanced if the motor is turning forward regardless of the setting in Pn000.0.
Forward
reference
CCW
cos lead
Phase B
lead
Forward
reference
CW
sin lead
Phase B
lead
(forward rotation with forward reference) if the output of the external encoder is cos
0 and Pn002 to n.1
.
9.3 Parameter Settings for Fully-closed Loop Control
Pn002.3 (External Encoder Usage)
1
Reverse Forward
reference reference
CW CCW
sin lead sin lead
Phase A Phase B
lead lead
Reverse Forward
reference reference
CCW CW
cos lead cos lead
Phase A Phase B
lead lead
(reverse rotation with forward refer-
, manually turn the motor shaft
3
Reverse
reference
CW
cos lead
Phase A
lead
Reverse
reference
CCW
sin lead
Phase A
lead
. If
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