IRC5 Independent Servo Axis

TommyT

Does anyone know how to change the motor direction in the configuration files for an Independent axis in an IRC5 controller?  I need the opposite direction of the motor to be positive motion from the default positive direction.  The motor is driving a conveyor belt.

RussD

According to a colleague of mine, you can change the sign of the transmission ratio parameter to make this change.

Here is a note on setting these values from the parameter reference guide:

Transmission gear ratio
An independent joint can rotate in one direction for a long time, resetting the measurement system regularly. A small round-off in the transmission gear ratio can build up to large errors over time. The transmission gear ratio must therefore be given as an exact fraction (e.g. 10/3 instead of 3.3333).
Define the transmission gear ratio by setting Transmission Gear High to the numerator and Transmission Gear Low to the denominator.
Limitations
The parameters Transmission Gear High and Transmission Gear Loware only useful if you have the RobotWare option Independent Axes.
When a joint is not in independent mode, it uses the parameter Transmission Gear Ratio instead of Transmission Gear High and Transmission Gear Low.