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 0 = not inverted |
1 | Additive torque / force command value 0 = not inverted |
2 | Torque / force feedback value 0 = not inverted |
3 -15 | Reserved |
 | For further information please look into the involved IDN: |