Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 202 / 514

5. Operation
5-79
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Group8 "Control system settings"
ID Contents
00
Position, Velocity, Torque Command Input Polarity
[CMDPOL]
Setting range Unit Default
00 to 07 - 00:PC+_VC+_TC+
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Selects the combination of each command polarity for position command pulse, Analog velocity
command and Analog torque command input from the list below.
 Rotating direction of the servo motor can be reversed without changing the command
wiring.
 Rotating direction which depends on the selection value will be shown below in case
positive (+) polarity command is given.
 Command input polarity is at standard setting value “00: PC+_VC+_TC+”

Command input polarity change “07:PC-_VC-_TC-“
Selection Polarity
Position
Command
Pulse
(PCMD)
Analog
Velocity
Command
(VCMD)
Analog
Torque
Command
(TCMD)
00 PC+_VC+_TC+ + Forward Forward Forward
01 PC+_VC+_TC- + Forward Forward Reverse
02 PC+_VC-_TC+ + Forward Reverse Forward
03 PC+_VC-_TC- + Forward Reverse Reverse
04 PC-_VC+_TC+ + Reverse Forward Forward
05 PC-_VC+_TC- + Reverse Forward Reverse
06 PC-_VC-_TC+ + Reverse Reverse Forward
07 PC-_VC-_TC- + Reverse Reverse Reverse
Forward rotation (CCW)
with (+) polarity command
Reverse rotation (CW)
with (-) polarity command
Reverse rotation (CW)
with (+) polarity command
Forward rotation (CCW)
with (-) polarity command