S-0-0085 Torque / force polarity parameter

The parameter can be used to invert the polarity of torque/force data.

Attributes

Name

Value

Datatype

binary

Data length in bit

16

Decimal point

0

Min value

0

Default

0

Max value

7

Unit

-

Changeable in EtherCAT state

PreOp

Cyclic transfer

No

Device parameter

No

Related to interface revision

No

This parameter is used to configure polarities of torque / force signals for specific applications. Polarities are not changed drive internally. Only the interface (input and output signals) is affected. Without inversion the motor shaft torque / force is clockwise when a positive value is commanded.

Bit pattern:

Bit

Meaning

0

Torque / force command value
Torque command value

0 = not inverted
1 = inverted

1

Additive torque / force command value
Additive torque command value

0 = not inverted
1 = inverted

2

Torque / force feedback value
Torque feedback value

0 = not inverted
1 = inverted

3 -15

Reserved

S-0-0085 Torque / force polarity parameter 1:

For further information please look into the involved IDN:

S-0-0080, S-0-0081und S-0-0084