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Indicates if the velocity or position data are multiplied by 1 of by -1, effecitvely flipping the polarity of the command and feedback. The position polarity bit is used for profile position (pp) mode and cyclic sync position mode (csp). The velocity polarity bit is used for profile velocity (pv) mode and cyclic sync velocity mode (csv).
The valid values of this object are:
Position polarity flipped (128) - multiplies the position by -1Velocity polarity flipped (64) - multiplies the velocity by -1Both are flipped (192) - both velocity and position are multiplied by -1
The polarity flag has no influence on the homing mode.
| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping |
|---|---|---|---|---|---|---|---|---|---|
| Polarity | 0x607E:0 | USINT | 8 | 0 | readwrite | Receive PDO (Outputs) | |||
