Installation and Configuration Ensemble Epaq Hardware Manual
2.2.3.1. Stepper Motor Phasing
A stepper motor can be run with or without an encoder. If an encoder is not being used, phasing is not
necessary. With an encoder, test for proper motor phasing by running a positive motion command.
If there is a positive scaling factor (determined by the CountsPerUnit
1
parameters) and the motor moves in a
clockwise direction, as viewed looking at the motor from the front mounting flange, the motor is phased
correctly. If the motor moves in a counterclockwise direction, swap the motor leads and re-run the
command.
Proper motor phasing is important because the end of travel (EOT) limit inputs are relative to motor rotation.
Motor Mounting
Flange (Front View)
Motor Shaft
ROTARY MOTOR
POSITIVE MOTION
Figure 2-14: Clockwise Motor Rotation
N O T E :If using standard Aerotech motors and cables, motor and encoder connection adjustments are
not required.
N O T E :After the motor has been phased, use the ReverseMotionDirection
2
parameter to change the dir-
ection of “positive” motion.
1
CountsPerUnit has replaced CntsPerMetricUnit, CntsPerEnglishUnit, and CntsPerRotaryUnit in software
version 3.00.000.
2
ReverseMotionDirection has replaced the functionality of reversing the sign on the PosScaleFactor to
change the direction of positive motion in software version 3.00.000.
www.aerotech.com Chapter 2 31
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