SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual
PAGE 6-11
6.3 T200 Conventions
This section deals with commonly understood conventions for T200 operation.
6.3.1 Direction of Rotation
The positive direction of rotation is clockwise, when the motor is viewed from the shaft end, as shown in the diagram
below.
Figure 6.6:- Rotational Convention for Mechanical Process Variables
The direction convention applies to all torque, velocity and position variables. For example a positive analog torque
command should tend to rotate the motor in a clockwise direction when viewed from the shaft end.
Motor Front
Clockwise is Positive
Direction of Rotation
:- Position, Velocity and Torque variables transferred via Controller Area
Network interfaces have the OPPOSITE polarity to that listed above. CAN position
related variables increase numerically as the motor rotates in a COUNTER-
CLOCKWISE direction.
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