Omron R88L-EC Series User Manual page 283

Movement Direction Setting
3000 hex
Setting 0 to 1
range
Size 2 bytes (INT16)
• This object switches the motor movement direction for a position, speed, or force command.
Explanation of Set Values
Set value
0 A positive direction command causes the external encoder to count in a negative direction.
1 A positive direction command causes the external encoder to count in a positive direction.
Changing the Movement Direction Setting
To change the Movement Direction Setting (3000 hex), follow the steps below.
1
First of all, set the External Feedback Pulse Direction Switching (3326 hex).
For the setting method, refer to 3326 hex on page 9-28.
When finished, write the setting to the EEPROM and turn OFF and then ON the power supply to
the Servo Drive.
2
Set the Movement Direction Setting (3000 hex) and write the setting to the EEPROM.
When finished, turn OFF and then ON the power supply to the Servo Drive again.
3
With the servo OFF, move the motor in the direction that you want the system to
recognize as positive.
At this time, check the direction in which the external encoder counts, and set the Movement
Direction Setting (3000 hex) to 0 if the count direction is negative or 1 if the count direction is
positive.
When finished, write the setting to the EEPROM and turn OFF and then ON the power supply to
the Servo Drive.
The external encoder count direction can be checked in the tool software, by monitoring the
direction in which the "Position actual internal value" changes.
Additional Information
In this manual, the term "positive/negative direction" refers to the direction you set in the above
procedure.
For example, the following table shows the relationship of the Movement Direction Setting with
the Positive/Negative Drive Prohibition Input.
3000 hex
set value
0
1
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
–
Unit
Access
Command Feedback pulse
direction direction
Positive Negative
Negative Positive
Positive Positive
Negative Negative
9 Servo Parameter Objects
Default 1
setting
RW PDO map
Description
Positive Drive
Prohibition Input
Enabled
–
Enabled
–
A l l
Data C
attribute
Not possible
Negative Drive
Prohibition Input
–
Enabled
–
Enabled
9 - 3
9