sets the direction defined as positive rotation
for the
motor as seen when looking at the motor shaft end.
0 = positive motion is counter-clockwise (CCW)
1 = positive motion is clockwise (CW)
DIR command was expanded. The command now takes up to 3 arguments.
The
command
is backward compatible. There are 10 bits for 10 possible
parameters that may be
subject to inversion according to the SERCOS spec. For now
only 4
are supported.
Position command, Velocity command and Torque command may
be
inverted using the
first argument. Position feedback may be inverted using
the second
parameter only
for SERCOS i/f.
First parameter: Position command, Velocity command and
Torque
command.
|
cmnd |
Position |
Velocity |
Torque |
|
0 |
1 |
1 |
1 |
|
1 |
0 |
0 |
0 |
|
2 |
0 |
1 |
0 |
|
3 |
0 |
1 |
1 |
|
4 |
1 |
0 |
0 |
|
5 |
1 |
0 |
1 |
|
6 |
1 |
1 |
0 |
|
7 |
0 |
0 |
1 |
Second parameter: External position feedback, Motor
Position
feedback, Velocity feedback
and Torque feedback.
|
cmnd |
External |
Motor |
Velocity |
Torque |
|
0 |
0 |
0 |
0 |
0 |
|
1 |
0 |
0 |
0 |
1 |
|
2 |
0 |
0 |
1 |
0 |
|
3 |
0 |
0 |
1 |
1 |
|
4 |
0 |
1 |
0 |
0 |
|
5 |
0 |
1 |
0 |
1 |
|
6 |
0 |
1 |
1 |
0 |
|
7 |
0 |
1 |
1 |
1 |
|
8 |
1 |
0 |
0 |
0 |
|
9 |
1 |
0 |
0 |
1 |
|
10 |
1 |
0 |
1 |
0 |
|
11 |
1 |
0 |
1 |
1 |
|
12 |
1 |
1 |
0 |
0 |
|
13 |
1 |
1 |
0 |
1 |
|
14 |
1 |
1 |
1 |
0 |
|
15 |
1 |
1 |
1 |
1 |
Third parameter: Position additive command, Velocity
additive
command and Torque additive
command (not supported yet). 0 - non inverted, 1 -
inverted.
Firmware Versions: all
Type: switch (R/W) Range: 0, 1
Units: n/a Default: 1
Opmodes: all Drive Status: en/dis EEPROM: yes