BECKHOFF AX5000 S-IDN Parameters - Manual (Page 65)

S­IDNs
S­0­0085 Torque polarity parameter
The parameter can be used to invert the polarity of torque/force data.
Attributes
Name Value
Format Binary
Data length 16
Decimal point 0
Min value 0
Max value 0x0007
Default value ­
Unit ­
Changeable in EtherCAT state PreOp
Cyclic transfer No
Device parameter No
Related to interface revision No
The polarities are switched externally at the input and output of the closed control loop. Viewed from the
front, the motor shaft rotates in a clockwise direction, if there is a positive torque/force difference and there is
no inversion.
Bit pattern:
Bit Meaning
0 Torque command value
Torque command value
0 = not inverted
1 = inverted
1 Additive torque command value
Additive torque command value
0 = not inverted
1 = inverted
2 Torque feedback value
Torque feedback value
0 = not inverted
1 = inverted
3
­15
Reserved
Note
IDNs involved
S‐0‐0080 [ } 58], S‐0‐0081 [ } 59] und S‐0‐0084 [ } 64]
AX5000 ­ IDN­Descriptions 65 Version 3.1