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Setting methods of functions
Setting with servo parameters
The rotation direction can be changed without changing the polarity of the command from the controller. The position/speed
information used by commands from the controller and in the feedback information to be transmitted to the controller can be
changed by setting [Pr. PA14 Travel direction selection].
Torque information is changed with the combination of [Pr. PA14 Travel direction selection] and "Torque POL reflection
selection" in [Pr. PC29].
The rotation direction setting is common for all the control modes. For example, when the torque polarity is changed with [Pr.
PA14 Travel direction selection] and "Torque POL reflection selection" in [Pr. PC29], the torque information polarity will also
change in the position mode.
The servo parameters related to the setting of the rotation direction selection are as follows:
Servo parameter
Symbol
PA14
*POL
PC29.3
*COPB
The following tables show the rotation direction of the position information, speed information, and torque information that is
changed in servo parameter settings.
■Position information
[Pr. PA14]
Servo motor rotation direction
setting value
Positioning address increasing direction
0
CCW
1
CW
■Speed information
[Pr. PA14]
Servo motor rotation direction
setting value
Speed handled by the controller: positive
0
CCW
1
CW
■Torque information
Setting value
[Pr. PA14]
[Pr. PC29.3]
0
0: Enabled
1: Disabled
1
0: Enabled
1: Disabled
Name
Travel direction selection
Torque POL reflection selection
Servo motor rotation direction
Torque handled by the controller: positive
CCW
CW
CCW
Outline
The rotation direction of the servo motor can be set.
Initial value: 0 (CCW)
Torque POL reflection selection can be set.
The torque polarity can be changed with the combination of this servo
parameter and [Pr. PA14].
Initial value: 1h (disabled)
Positioning address decreasing direction
CW
CCW
Speed handled by the controller: negative
CW
CCW
Torque handled by the controller: negative
CW
CCW
CW
3.2 Rotation direction selection
3 BASIC FUNCTION
45
3
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