4 Operation4.3.1 Servomotor Rotation Direction4-84.3 Basic Functions Settings4.3.1 Servomotor Rotation DirectionThe servomotor rotation direction can be reversed with parameter Pn000.0 without changing the polarity ofthe speed/position reference. This causes the rotation direction of the servomotor to change, but the polarity ofthe signals, such as encoder output pulses, output from the multi-winding drive unit does not change. (refer to4.4.4 Encoder Output Pulses)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.ParameterForward/ReverseReferenceDirection of Motor Rotation and Encoder Output Pulse ApplicableOvertravel (OT)Pn000n.0Sets CCW as for-ward direction.[Factory setting]ForwardReference P-OTReverseReference N-OTn.1Sets CW as for-ward direction.(Reverse RotationMode)ForwardReference P-OTReverseReference N-OTCCW Phase BadvancedTimeEncoder output pulsePAOPBOMotor speedTorque referenceMotor speed+CWPhase AadvancedTimeEncoder output pulseMotor speedTorque referenceMotor speedPAOPBO+PAOPBOCW Phase BadvancedEncoder output pulseMotor speedTorque referenceMotor speed+TimeCCWPhase AadvancedEncoder output pulsePAOPBO+TimeMotor speedTorque referenceMotor speed
