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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
| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping |
|---|---|---|---|---|---|---|---|---|---|
| Polarity | 0x607E:0 | USINT | 8 | 0 | readwrite | ||||
