Allen-Bradley ControlLogix Reference Manual page 382

Chapter 4 CIP Axis Attributes
382
Motion Polarity
Usage Access
Required - All Set/ SSV#
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
When Motion Scaling Configuration is set for Drive Scaling, Motion Polarity can
be used to switch the directional sense of the motion control system. A Normal
setting leaves the sign of the motion control command and actual signal values
unchanged from their values in the drive control structure. An Inverted setting
flips the sign of the command signal values to the drive control structure and flips
the sign of the actual signal values coming from the drive control structure.
Motion Polarity can therefore be used to adjust the sense of positive direction of
the motion control system to agree with the positive direction on the machine.
When the Motion Scaling Configuration is set to Drive Scaling, the Motion
Polarity inversion is performed between the CIP Motion Connection interface
and the drive control structure. When the Motion Scaling Configuration is set to
Controller Scaling, the Motion Polarity inversion is performed exclusively by the
controller.
To maintain directional consistency, the signs of all Signal Attribute values read
from the drive control structure or being written to the drive control structure are
determined by Motion Polarity. A comprehensive list of these Signal Attributes
and their access rules is defined in the following table:
ID Access Rule
1402+o Get
1403+o Get
1404+o Get
62 Get
63 Get
64 Get
65 Get
70 Get
360 Set*
365 Get
366 Get
367 Get
370 Set
371 Set
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Data Default Min Max
Type
USINT 0 0 1
Signal Attribute Name
Feedback n Position
Feedback n Velocity
Feedback n Acceleration
Registration 1 Positive Edge Position
Registration 1 Negative Edge Position
Registration 2 Positive Edge Position
Registration 2 Negative Edge Position
Home Event Position
Controller Position Command - Integer
Fine Command Position
Fine Command Velocity
Fine Command Acceleration
Skip Speed 1
Skip Speed 2
Semantics of Values
Enumeration:
0 = Normal Polarity
1 = Inverted Polarity
2-255 = (Reserved)