0x607E

0x607E:0 Polarity

The polarity flag can be used to determine if the position demand value should be multiplied by 1 or by -1. The position polarity bit is only accessible in cyclic synchronous position mode (csp). The velocity polarity bit is only accessible in cyclic synchronous velocity mode (csv). The flag has no influence on the homing mode.

7 6 5 0
Position polarity Velocity polarity reserved (0)
MSB LSB

The polarity bits are coded as follows: 0b = multiply by 1 and 1b = multiply by -1

The polarity bits shall be coded as follows: 0b = multiply by 1 and 1b = multiply by -1
Object Type OBJECT_TYPE_VAR
Index 0x607E
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data 0
Unit
Access readwrite
Category optional (default)
PDO Mapping