Setup and Reference Guide - Kollmorgen

DIR
Sets the direction (inversion) of many different parameters with respect to the rotation of the motor; as viewed
looking at the end of the shaft.
Variable Syntax: DIR
This variable switch was greatly expanded for SERCOS use with the introduction of
firmware version 3.4.0. Historically, it was a two-position switch with the following
definition:
0 = positive motion is counter-clockwise (CCW)
1 = positive motion is clockwise (CW)
For Non-SERCOS Users:
Only the first parameter should be used to affect performance; and even then, only the parameters 0 or 1.
Therefore, the standard user need only configure the first parameter (0 for CCW and 1 for CW) to control All
three loops simultaneously. If you query the variable, All three parameters are communicated even though only
one was changed. Just leave the second and third at their default settings.
Parameter Position Velocity Torque
0 1 1 1
1 0 0 0
For SERCOS Users:
The SERCOS interface only affects the position command and position feedback polarities.
First Parameter: sets the direction (inversion) of the Position command, Velocity command, and Torque
command.
Parameter Position Velocity Torque
0 1 1 1
1 0 0 0
2 0 1 0
3 0 1 1
4 1 0 0
5 1 0 1
6 1 1 0
7 0 0 1
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