TR-Electronic MP-200, User Manual, Page: 107 / 153

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TR-Electronic GmbH 2016, All Rights Reserved
09/29/2020 TR-EMO-BA-GB-0022 v03 Page 107 of 153
9.4.38 Object 0x607E: Polarity
Object code
VAR
Data type UNSIGNED8
Attribute rw
Default 0
Min 0
Max 255
PDO mapping yes
Description This parameter defines whether the direction of position and/or speed is to be
reversed.
If a direction reversal is defined, the values of actual position value and nominal
position or actual speed value and nominal speed are multiplied by -1.
The parameter value is interpreted as follows:
Table 34: Direction reversal
Bit 7 Bit 6 Bit 5-0
1
– Direction reversal at
position
0
– No direction reversal at
position
1
– Direction reversal at
speed
0
– No direction reversal at
speed
reserved
9.4.39 Object 0x607F: Max Profile Velocity
Object code VAR
Data type UNSIGNED32
Attribute rw
Default
8100
Min 0
Max 2
32
-1
PDO mapping yes
Description This parameter defines the maximum speed in speed units during a positioning
movement.
9.4.40 Object 0x6080: Max Motor Speed
Object code VAR
Data type UNSIGNED32
Attribute rw
Default 9000
Min 1
Max 2
32
-1
PDO mapping yes
Description This parameter specifies the maximum permitted speed of the motor shaft in rpm.