SMC Networks LECSN-T Series - 18.5.10 Polarity

18 - 110
18．EtherCAT COMMUNICATION
18.5.10 Polarity
The rotation direction of a servo motor to position commands, speed commands, and torque commands can
be set with Polarity (607Eh). For the Polarity (607Eh) setting to position commands and speed commands,
use [Pr. PA14]. For the Polarity (607Eh) setting to torque commands, use [Pr. PA14] and "POL reflection
selection at torque mode" of [Pr. PC29]. A change in the setting of Polarity (607Eh) is not applied without
enabling the change. Refer to section 6.5.2 for the procedure of enabling parameters.
(1) Object definition
Bit
Description
0
(reserved) The value at reading is undefined. Set "0" at writing.
1
2
3
4
5
Torque POL
The polarity is reversed when this bit is turned on.
6
Velocity POL
The polarity is reversed when this bit is turned on.
7
Position POL
The polarity is reversed when this bit is turned on.