Command: Set Control Direction (96)

Supported Axes:	Position, Velocity, Pressure, and Force Control Axes
Supported Control Modes:	Position PID, Position I-PD, Velocity PID, Velocity I-PD, Pressure/Force Control

See the Commands Overview topic for basic command information and how to issue commands from PLCs, HMIs, etc.

Command Parameters

Parameter Description

Range

Direction

Positive (1)
Negative (-1)

a valid integer as described

Description

This command, together with the Unidirectional Mode axis parameter, is specifically designed for systems that require a unipolar Control Output, but need to switch direction externally. This command is only valid when Unidirectional Mode is enabled—that is, set to Positive, Negative, or Automatic.

If the Unidirectional Mode axis parameter is set to Positive or Negative, issue the Set Control Direction (96) command at any time to set the desired direction.

If the Unidirectional Mode axis parameter is set to Automatic, the direction is determined based on the Target Velocity. The Set Control Direction (96) command may still be used while the axis is stopped to indicate a change in the system direction prior to a move command. Notice that issuing this command will have no effect in Automatic mode while the Target Velocity is not stopped.

For many systems, this command is unnecessary, because the Automatic option handles direction changes very well for most two-valve systems, and for a unidirectional belt, the direction is set by the Unidirectional Mode parameter on startup and never needs to be changed after that.

This command can be issued while the axis in closed loop control.

For more details, see the Unidirectional Mode topic.