YASKAWA SGDV series User Manual

8 Fully-closed Loop Control
8.3.1 Motor Rotation Direction
8-16
(3) Relation between Motor Rotation Direction and External Encoder Pulse Phases
Refer to the table below.
• Set Pn002 to n.1 (forward rotation with forward reference) if the output of the external encoder is cos
lead and the motor is turning counterclockwise; set Pn002 to n.3 (reverse rotation with forward refer-
ence) if it is sin lead. When Pn000 is set to n.0 and Pn002 to n.1, manually turn the motor shaft
counterclockwise. If the fully-closed feedback pulse counter (Un00E) counts up, set Pn002 to n.1. If
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.
Parameter
Pn002.3 (External Encoder Usage)
1 3
Pn000.0
(Motor
rotation
direction)
0
Reference
direction
Forward
reference
Reverse
reference
Forward
reference
Reverse
reference
Motor rotation
direction
CCW CW CCW CW
External encoder
output
cos lead sin lead sin lead cos lead
Encoder output pulse
Phase B
lead
Phase A
lead
Phase B
lead
Phase A
lead
1
Reference
direction
Forward
reference
Reverse
reference
Forward
reference
Reverse
reference
Motor rotation
direction
CW CCW CW CCW
External encoder
output
sin lead cos lead cos lead sin lead
Encoder output pulse
Phase B
lead
Phase A
lead
Phase B
lead
Phase A
lead

YASKAWA SGDV series Specifications

General

Series	SGDV
Communication	MECHATROLINK-II, MECHATROLINK-III, EtherCAT
Control Modes	Position, Speed, Torque
Protection Features	Overcurrent, Overvoltage, Undervoltage, Encoder error
Ambient Temperature	0°C to 55°C
Cooling Method	Natural cooling or forced air cooling
Voltage	200V, 400V
Weight	Varies depending on model (e.g., 0.6 kg to 10 kg)