Output Settings
Invert Motor Polarity
If set to TRUE, the Invert Motor Polarity parameter reverses the polarity of the motor and thus the direction of motor rotation.
FALSE: The axis moves in the direction of larger positions when the drive is positively controlled.TRUE: The axis moves in the direction of smaller positions when the drive is positively controlled.
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Risk of unexpected movements If the counting direction of the encoder and the motor polarity do not match, the axis will perform unexpected movements. |
Reference Velocity
For drives that are not directly controlled by a digital velocity value, e.g. a voltage or current interface, the Reference Velocity is used to scale the drive output. The Reference Velocity is at the same time an upper velocity limit that cannot be exceeded in addition to the maximum velocity. For all drive types, the Reference Velocity must be set greater than or equal to the maximum velocity.
(Strictly speaking, the velocity upper limit is the Reference Velocity divided by the Output Ratio, if an Output Ratio smaller than 1.0 is parameterized)
at Output Ratio [0.0..1.0]
Proportional ratio for analog control
The Reference Velocity normally refers to the maximum possible output, e.g. 10 V. The Output Ratio in this case is 1.0 or 100 %. With the Output Ratio factor it is possible to parameterize the reference velocity for another reference point, e.g. at 80 %.
Reference Velocity and Maximum Velocity
The Reference Velocity divided by the Output Ratio determines the maximum achievable velocity. A control component is required for controlling the axis, therefore the parameterized Maximum Velocity must be set 10% smaller, for example. For drives that are controlled with a digital velocity value (CoE, SoE), no reserve is necessary and both velocities can be equal.