Mitsubishi Electric MR-JET User Manual page 48

Setting with object dictionary
[Polarity (Obj. 607Eh)] enables the rotation direction to be changed without changing the polarity of the command from the
controller. The setting of [Polarity (Obj. 607Eh)] for the position information and speed information corresponds to [Pr. PA14
Travel direction selection]. The setting of [Polarity (Obj. 607Eh)] for the torque information corresponds to [Pr. PA14 Travel
direction selection] and "Torque POL reflection selection" in [Pr. PC29].
A change in the setting of [Polarity (Obj. 607Eh)] is not applied immediately.
The table below shows the relations between the object definition, object setting values, and the servo parameters. Settings
can only be made with the combinations indicated here.
Bit Description
0 (reserved) The value at reading is undefined. Set "0" when writing.
1
2
3
4
5 Torque POL
The polarity is reversed when this bit is turned on.
6 Velocity POL
The polarity is reversed when this bit is turned on.
7 Position POL
The polarity is reversed when this bit is turned on.
The below table shows the relations between the object setting value of [Polarity (Obj. 607Eh)] and the servo parameters.
Object
[Polarity (Obj. 607Eh)]
Bit7 Bit6
0 0
1 1
1 1
3 BASIC FUNCTION
46
3.2 Rotation direction selection
Servo parameter
[Pr. PA14]
Bit5
0 0
0 1
1 1
Description
[Pr. PC29.3]
0 The polarity does not change.
0 The polarity of the position and speed is reversed.
1 The polarity of the position, speed, and torque is reversed.