# IRC5 Independent Servo Axis **URL:** \ **Category:** Robot Controller\ **Created:** [May 4, 2006, 2:53pm UTC](https://tech-community.robotics.abb.com/t/irc5-independent-servo-axis/718 "2006-05-04T14:53:13Z")\ **Posts on this page:** 2\ **Page:** 1
**Author:** ![TommyT](https://avatars.discourse-cdn.com/v4/letter/t/c57346/32.png) [@TommyT](https://tech-community.robotics.abb.com/u/TommyT)\ **Post date:** [May 4, 2006, 2:53pm UTC](https://tech-community.robotics.abb.com/t/irc5-independent-servo-axis/718/1 "2006-05-04T14:53:13Z")
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. ---
**Author:** ![RussD](https://avatars.discourse-cdn.com/v4/letter/r/dec6dc/32.png) [@RussD](https://tech-community.robotics.abb.com/u/RussD)\ **Post date:** [May 5, 2006, 7:33pm UTC](https://tech-community.robotics.abb.com/t/irc5-independent-servo-axis/718/2 "2006-05-05T19:33:44Z")
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 Low_are 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_.