General
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Type
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EF
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Offline editable
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Yes
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Devices supporting the parameter
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Traceable
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Yes
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Functional description
With the parameter Direction, you can change the direction of the physical movement of the carriers on the track.
When the parameter Direction indicates Not inverted / 1, the carriers move clockwise (closed track) or from left to right (open track) and the Position value of the objects increases (see Position).
The value of the parameter Direction is evaluated during Sercos phase-up.
The setting of the parameter
Direction inverts the relation between the user coordinate system in
Units and the incremental position transferred to the carriers via the motion bus. The coupling via the function
FC_SetMasterEncoder() operates by transmitting velocities that are calculated in the mechanical coordinate system. Therefore, the change of direction of a carrier that is coupled to other objects as a master also affects the direction of movement of the coupled objects.
NOTE: In PacDrive systems, the user coordinate system is represented in units. Depending on the setting of the FeedConstant (units/revolution or units/m), the user coordinate system is mapped to the physical dimensions. In a multi carrier transport system, one user unit is mapped to 1 mm on the physical track. The setting of a FeedConstant is not supported.
For more information on the function FC_SetMasterEncoder(), refer to the SystemInterface library.
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Value
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Data type
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Meaning
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Not inverted / 1
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BOOL
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The carriers move clockwise (closed track) or from left to right (open track) and the Position parameter value increases.
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Inverted / 0
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BOOL
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The carriers move counterclockwise (closed track) or from right to left (open track) and the Position parameter value increases.
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