Kollmorgen AKD Basic User Manual

AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
6.11.9 DRV.DIR
General Information
Type R/W Parameter
Description Changes drive direction.
Units N/A
Range 0 to 1
Default
Value
0
Data Type Integer
See Also N/A
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CAN-
open
352Ah/0 M_01-00-00-000
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 234 No 8 bit No M_01-03-00-000
Description
DRV.DIR changes the direction of the motor by changing the algebraic sign of the current com-
mand and position feedback value according to the figure below.
Note the following when using DRV.DIR:
l
You can only change the DRV.DIR command when the drive is disabled.
l
The drive status changes to "Axis not homed" as soon as the DRV.DIR parameter
changes value (see DRV.MOTIONSTAT).
l
You must verify the settings of the hardware limit switches. If necessary, switch the
positive and negative hardware limit switches by swapping the wires at the digital
inputs.
Kollmorgen™ | March 30, 2012 224

Kollmorgen AKD Basic Specifications

General

Brand	Kollmorgen
Model	AKD Basic
Category	Controller
Language	English