Configuration Manual Owner's manual

Publication 1784-UM003A-EN-P – June 2003
Motion Object Attributes 379
Advanced Polarity Attributes The Advanced Polarity Attributes are derived from the Drive Polarity Bits
attribute and map directly to SERCOS IDNs. Thus, for a detailed description
of these attributes refer to the corresponding IDN descriptions found in the
SERCOS Interface standard. Since these attributes are automatically
configured to appropriate values based on the current Drive Polarity Bits
settings, the user need not be concerned with manually configuring each of
these attributes. Generally, all command bits are set according to the current
Command Polarity bit value, and the feedback bits are set according to the
current Feedback Polarity bit setting.
GSV/SSV Access Attribute Name Data Type Values
GSV Position Polarity INT Position Polarity
Bit Map:
0: pos cmd
1: additive pos cmd
2: pos feedback 1
3: pos feedback 2
4: use position limits
5: use under/over-flow
Polarity bits:
bit = 0 – non-inverted
bit = 1 – inverted
GSV Velocity Polarity INT Velocity Polarity
Bit Map:
0: vel cmd
1: additive vel cmd
2: vel feedback
Polarity bits:
bit = 0 – non-inverted
bit = 1 – inverted
GSV Torque Polarity INT Torque Polarity
Bit Map:
0: torque cmd
1: additive torque cmd
2: torque feedback
Polarity bits:
bit = 0 – non-inverted
bit = 1 – inverted