T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDE
PAGE 10-30
10.6.5 Problem: Motor Shaft rotates in the Wrong Direction
The motor movement is reversed in direction from that desired.
Table 29: Causes of Direction Reversal
Cause Check/[Correction]
ROT_DIR digital
Input activated
The rotation direction has been activated, which reverses the polarity of the analog input
command, and the digital references velocities. Check the polarity of the ROT_DIR input
using the WinDrive Drive, Drive-Status menu item.
[Change the state of the ROT_DIR digital input to reverse the motor.]
Swapped REF±
differential analog
input pins
The polarity of rotation can be changed by swapping the cable connections to the REF+
and REF- inputs.
ESM Polarity
reversed
When the ESM Channel A leads Channel B, as shown in Section 6.9 Encoder Simulation
Function, the motor rotates in a clockwise direction as described in Section 6.2 T200
Conventions. If A+ and A- are swapped (similarly for B+ and B-) inadvertently by the
user, then Channel B will appear to lead Channel A when viewed by the user.
[Check all ESM cable wiring to ensure proper of wiring.]
Motor Wiring
Reversal
The motor phase wiring may be swapped. Remove all power from the T200. Check the
motor phases wiring against Figure 3.32 and Table 3.7.
[Correct the wiring.]
: Reversal of the direction of rotation can lead to positive feedback and
runway conditions of control loops, as part of the system control loop is closed
outside of the T200. Ensure that the direction of rotation is well understood before
changing polarity of rotation.
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