YASKAWA Sigma-7 SGD7S Series

You can use either an incremental or an absolute encoder. If you use an
absolute encoder, set Pn002 to n.  1  (Use the absolute encoder as
an incremental encoder).
11.4.3 Setting the Motor Direction and the Machine Movement Direction
You must set the motor direction and the machine movement direction. To perform fully-
closed loop control, you must set both Pn000 = n.X (Rotation Direction Selection)
and Pn002 = n.X (External Encoder Usage).
Parameter
Pn002 = n.X (External Encoder Usage)
n.1 n.3
Pn000
=n.X
(Rotation
Direction
Selection)
n.0
Reference
direction
Forward
reference
Reverse
reference
Forward
reference
Reverse
reference
Motor
direction
CCW CW CCW CW
External
encoder
Forward
movement
Reverse
movement
Reverse
movement
Forward
movement
n.1
Reference
direction
Forward
reference
Reverse
reference
Forward
reference
Reverse
reference
Motor
direction
CW CCW CW CCW
External
encoder
Reverse
movement
Forward
movement
Forward
movement
Reverse
movement
n Phase B leads in the divided pulses for a forward reference regardless of the setting
of Pn000 = n.X.
n Forward direction: The direction in which the pulses are counted up.
n Reverse direction: The direction in which the pulses are counted down.
n Pn000 = n.X
Refer to the following section for details.
Ä Chap. 6.5 ‘Motor Direction Setting’ page 145
n Pn002 = n.X
When you perform fully-closed loop control, set Pn002 to n.1 or n.3.
Parameter Name Description When Ena-
bled
Classifica-
tion
Pn002
n.0
(default
setting)
External
Encoder
Usage
Do not use an
external encoder.
After restart Setup
n.1
External encoder
moves in forward
direction for CCW
motor rotation.
Related Parameters
Sigma-7 Series SERVOPACKs
Fully-Closed Loop Control
Parameter and Object Settings for Fully-closed Loop Control > Setting the Motor Direction and the Machine Movement Direction
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