NANOTEC ELECTRONIC N5 - 607 Eh Polarity

Technical Manual N5 (CANopen)
10 Description of the object dictionary
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000000
h
Description
The target position must lie within the limits set here. Prior to every check, the respective Home Offset
(607C
h
) is subtracted:
Corrected Min Position Limit = Min Position Limit–Home Offset
Corrected Max Position Limit = Max Position Limit–Home Offset.
607Eh Polarity
Function
With this object, the direction of rotation can be reversed.
Object description
Index 607E
h
Object name Polarity
Object Code VARIABLE
Data type UNSIGNED8
Savable yes, category: application
Access read / write
PDO mapping no
Allowed values
Preset value 00
h
Firmware version FIR-v1426
Change history
Description
The following generally applies for direction reversal: If a bit is set to the value "1", reversal is activated.
If the value is "0", the direction of rotation is as described in the respective mode.
POS VEL
7 6 5 4 3 2 1 0
VEL (Velocity)
Direction of rotation reversal in the following modes:
• Profile Velocity Mode
• Cyclic Synchronous Velocity Mode
• Velocity Mode
POS (Position)
Direction of rotation reversal in the following modes:
Version: 2.0.1 / FIR-v1650 321