607Eh Polarity Function With this object, the direction of rotation can be reversed. Object description Index 607Eh Object name Polarity Object Code VARIABLE Data type UNSIGNED8 Savable yes, category: application Access read / write PDO mapping RX-PDO Allowed values Preset value 00h Firmware version FIR-v1426 Change history Firmware version FIR-v1738-B501312: "PDO mapping" table entry for subindex 00 changed from "no" to "RX-PDO". Description The following generally applies for direction reversal: If a bit is set to the value "1", reversal is activated. If the value is "0", the direction of rotation is as described in the respective mode. VEL (Velocity) Direction of rotation reversal in the following modes: Profile Velocity Mode Cyclic Synchronous Velocity Mode POS (Position) Direction of rotation reversal in the following modes: Profile Position Mode Cyclic Synchronous Position Mode Tip: You can force an inversion of the rotary field that affects all operating modes. See object 3212h:02h.