0x607E - Polarity
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x607E | 0x00 | Polarity | UINT8 | RW | Yes | Yes | UINT8 | 0x00 | - |
This object indicates if position and velocity demand shall be multiplied by 1 or by -1. Each variable could be reversed independently using a different bit of polarity register.
The position polarity bit is used by profile position mode and the velocity polarity bit is used by profiled velocity mode.
This object will not reverse the whole system, it only affects to the position and velocity demand. Please, see System polarity if you want to reverse the whole system.
Data description:
The binary representation of the object value and its corresponding meaning is as follows:
Bit number: | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
|---|---|---|---|---|---|---|---|---|
| Pos Polarity | Vel Polarity | Reserved | |||||
The bits have the following meanings:
Value | Polarity |
|---|---|
0 | Positive (multiply by 1) |
1 | Negative (multiply by -1) |
A logical "0" shows that the position values will be multiplied by 1. A logical "1" shows that the values will be multiplied by -1.