XC2 Hardware Manual
Chapter 2: Installation and Configuration
2.2.3.1. Stepper Motor Phasing
A stepper motor can be run with or without an encoder. If an encoder is not being used, phasing is not
necessary. With an encoder, test for proper motor phasing by running a positive motion command.
If there is a positive scaling factor (determined by the CountsPerUnit parameters) and the motor moves in a
clockwise direction, as viewed looking at the motor from the front mounting flange, the motor is phased
correctly. If the motor moves in a counterclockwise direction, swap the motor leads and re-run the
command.
Proper motor phasing is important because the end of travel (EOT) limit inputs are relative to motor rotation.
Figure 2-11:
Positive Motor Direction
For Aerotech-supplied systems, the motor, encoder and Hall sensors are correctly configured and
connection adjustments are not necessary.
NOTE:
After the motor has been phased, use the ReverseMotionDirection parameter to change the
direction of “positive” motion.
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