Aerotech Automation1 XC4e, Hardware Manual

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2.2.3.1. Stepper Motor Phasing
A stepper motor can be run with or without an encoder.
Without an Encoder:
You do not need to phase the motor.
With an Encoder:
Because the end of travel (EOT) limit inputs are relative to motor rotation,
it is important to phase the motor.
Run a positive motion command. The motor is phased correctly if there is a positive scaling factor
(determined by the CountsPerUnit parameters) and the motor moves in a clockwise direction when you
view the motor from the front mounting flange (
Figure 2-18 ). If the motor moves in a counterclockwise
direction, swap the motor leads and re-run the command. After the motor has been phased, if you want
to change the direction of positive motion, use the ReverseMotionDirection parameter.
Figure 2-18: Positive Motor Direction
For Aerotech-supplied systems, the motor, encoder and Hall sensors are correctly configured and
connection adjustments are not necessary.
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XC4e Hardware Manual 2.2.3. Stepper Motor Connections