Description
This parameter can be used to reverse the direction for the associated additional feedback position (60E4h) when using EtherCAT or CANopen.
-
- This does not affect the position displayed in WorkBench or the position used by an axis. It is intended for when a feedback is used as an external encoder by a PLC separate from a specific axis. To change the axis’ direction, use AXIS#.DIR.
|
Value |
Description |
|---|---|
|
0 (Default) |
Normal direction. Encoder positions increment in the direction as given by the feedback device. |
|
1 |
Inverted direction. The position from the encoder is inverted and will count in the opposite direction as given from the feedback device. |
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-08-02-000 |
General Information
|
Type |
Read/Write |
|
Units |
N/A |
|
Range |
0 – Normal direction 1 – Inverted direction |
|
Default Value |
0 – Normal Direction |
|
Data Type |
Unsigned8 |
|
See Also |
60E4h |
|
Stored in Non-Volatile Memory |
Yes |
Variants Supported
AKD2G-SPE (EtherCAT)
AKD2G-SPC (CANopen)
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.CANOPEN.FB1.DIR |
60f1h |
01h |
Unsigned8 |
- |
- |
Read/Write |
No |
|
AXIS1.CANOPEN.FB2.DIR |
60f1h |
02h |
Unsigned8 |
- |
- |
Read/Write |
No |
|
AXIS1.CANOPEN.FB3.DIR |
60f1h |
03h |
Unsigned8 |
- |
- |
Read/Write |
No |
|
AXIS1.CANOPEN.FB4.DIR |
60f1h |
04h |
Unsigned8 |
- |
- |
Read/Write |
No |
|
AXIS1.CANOPEN.FB5.DIR |
60f1h |
05h |
Unsigned8 |
- |
- |
Read/Write |
No |
|
AXIS2.CANOPEN.FB1.DIR |
68f1h |
01h |
Unsigned8 |
- |
- |
Read/Write |
No |
|
AXIS2.CANOPEN.FB2.DIR |
68f1h |
02h |
Unsigned8 |
- |
- |
Read/Write |
No |
|
AXIS2.CANOPEN.FB3.DIR |
68f1h |
03h |
Unsigned8 |
- |
- |
Read/Write |
No |
|
AXIS2.CANOPEN.FB4.DIR |
68f1h |
04h |
Unsigned8 |
- |
- |
Read/Write |
No |
|
AXIS2.CANOPEN.FB5.DIR |
68f1h |
05h |
Unsigned8 |
- |
- |
Read/Write |
No |
