TR-Electronic MP-200 - Object 0 X607 E: Polarity; Object 0 X607 F: Max Profile Velocity; Object 0 X6080: Max Motor Speed; Table 34: Direction Reversal

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09/29/2020 TR-EMO-BA-GB-0022 v03 Page 107 of 153
9.4.38 Object 0x607E: Polarity
Object code
VAR
Data type
UNSIGNED8
Attribute
rw
Default
0
Min
0
Max
255
PDO mapping
yes
Description
This parameter defines whether the direction of position and/or speed is to be
reversed.
If a direction reversal is defined, the values of actual position value and nominal
position or actual speed value and nominal speed are multiplied by -1.
The parameter value is interpreted as follows:
Table 34: Direction reversal
Bit 7
Bit 6
Bit 5-0
1 – Direction reversal at
position
0 – No direction reversal at
position
1 – Direction reversal at
speed
0 – No direction reversal at
speed
reserved
9.4.39 Object 0x607F: Max Profile Velocity
Object code
VAR
Data type
UNSIGNED32
Attribute
rw
Default
8100
Min
0
Max
2
32
-1
PDO mapping
yes
Description
This parameter defines the maximum speed in speed units during a positioning
movement.
9.4.40 Object 0x6080: Max Motor Speed
Object code
VAR
Data type
UNSIGNED32
Attribute
rw
Default
9000
Min
1
Max
2
32
-1
PDO mapping
yes
Description
This parameter specifies the maximum permitted speed of the motor shaft in rpm.