Festo CMMP-AS-***-M3 Series User Manual

5 Setting parameters
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 89
Object 607E
h
: polarity
The algebraic sign of the position and speed values of the motor controller can be set with the corres
ponding polarity_flag. This can serve to invert the motor's direction of rotation with the same setpoint
values.
In most applications, it makes sense to set the position_polarity_flag and the velocity_polarity_flag to
the same value.
Setting of the polarity_flag influences only parameters when reading and writing. Parameters already
present in the motor controller are not changed.
Index 607E
h
Name polarity
Object Code VAR
Data Type UINT8
Access rw
PDO mapping yes
Units –
Value Range 40
h
, 80
h
, C0
h
Default Value 0
Bit Value Name Meaning
6 40
h
velocity_polarity_flag 0: multiply by 1 (default)
1: multiply by -1 (inverse)
7 80
h
position_polarity_flag 0: multiply by 1 (default)
1: multiply by -1 (inverse)

Festo CMMP-AS-***-M3 Series Specifications

General

Power Supply	24 V DC
Communication Interfaces	EtherCAT, CANopen
Safety Functions	STO (Safe Torque Off)
Number of axes	1
Protection Class	IP20
Control Mode	Position, Velocity, Torque Control
Feedback	Encoder, Resolver
Ambient Temperature Range	0 to 40 °C
Relative Humidity	5% to 95% (non-condensing)
Storage Temperature Range	-25 ... +70 °C