Danaher Motion 05/2008 Basic ConfigurationS200-VTS Product Manual 777.5 Reversing Motion DirectionIn order to reverse the motion direction of the drive, the command to the drive needs to bereversed. In addition, the emulated encoder output polarity needs to be reversed if an externalcontroller is using the emulated encoder outputs for feedback.To reverse the command to the drive in Torque or Velocity Modes either change the wiring orchange the parameters:CmdSrc Setting Wiring Method Parameter MethodAnalog Command Swap the analogcommand connections(J4-24 and J4-25)Change the sign of CmdGainCommand Variable None Change the sign of CommandPWM Input Swap the PWMconnections (J4-10 andJ4-11)Change the sign of CmdGainTo reverse the command to the drive in Position Modes:PosCmdSrc Setting Wiring MethodPosCmdSrc = AQuadB Reverse the Ch A input to the drive by swapping J4-19and J4-20.PosCmdSrc = Step-Dir The Direction command, J4-5, to the drive needs to beinverted by the user’s controller.To reverse the Emulated Encoder Outputs from the drive:• Reverse the Emulated Encoder Outputs if the external control loops use the emulatedencoder outputs for feedback.• Swap the CHA and CHA/ emulated encoder outputs (J4-19 and J4-20) going to theexternal controller.
