Reversing Motion Direction

In order to reverse the motion direction of the drive, the command to the drive needs to be reversed. In addition, the emulated encoder output polarity needs to be reversed if an external controller is using the emulated encoder outputs for feedback.

To reverse the command to the drive in Torque or Velocity Modes either change the wiring or change the parameters:

CmdSrc Setting	Wiring Method	Parameter Method
Analog Command	Swap the analog command connections J4-24 and J4-25.	Change the sign of CmdGain.
Command Variable	None	Change the sign of Command.
PWM Input	Swap the PWM connections J4-10 and J4-11.	Change the sign of CmdGain.

To reverse the command to the drive in Position Modes:

PosCmdSrc Setting	Wiring Method
PosCmdSrc = AQuadB	Reverse the Ch A input to the drive by swapping J4-19 and J4-20.
PosCmdSrc = Step-Dir	The Direction command, J4-5, to the drive needs to be inverted 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 emulated encoder outputs for feedback.

Swap the CHA and CHA/ emulated encoder outputs (J4-19 and J4-20) going to the external controller.

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