Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 87)

4 Operation
4.2.2 Servomotor Rotation Direction
4-4
4.2.2 Servomotor Rotation Direction
The servomotor rotation direction can be reversed with parameter Pn000 without changing the polarity of the
speed/position reference.
This causes the travel direction of the motor change, but the encoder pulse output polarity does not change.
The standard setting for forward rotation is counterclockwise (CCW) as viewed from the load end of the ser-
vomotor.
Note: SigmaWin+ trace waveforms are shown in the above table.
Parameter
Forward/
Reverse
Reference
Direction of Motor Rotation and Encoder Output Pulse
Applicable
Overtravel
(OT)
Pn000
n.
0
Sets CCW as forward
direction.
[Factory setting]
Forward
Reference
P-OT
Reverse
Reference
N-OT
n.
1
Sets CW as forward
direction. (Reverse
Rotation Mode)
Forward
Reference
P-OT
Reverse
Reference
N-OT
CCW
Phase B
advanced
Time
Encoder output pulse
PAO
PBO
Motor speed
Torque reference
Motor speed
+
CW
Phase A
advanced
Time
Encoder output pulse
Motor speed
Torque reference
Motor speed
PAO
PBO
+
PAO
PBO
CW
Phase B
advanced
Encoder output pulse
Motor speed
Torque reference
Motor speed
+
Time
CCW
Phase A
advanced
Encoder output pulse
PAO
PBO
+
Time
Motor speed
Torque reference
Motor speed