On the Altivar drives, in CiA402 profile, what sequence is written to run drive in Reverse?

Issue:
On the Altivar drives, in CiA402 profile, what sequence is written to run drive in Reverse?

Product LIne:
Altivar drives with serial communication control in CiA-402 (Drivecom) Mode of operation.

Environment:
All current production models with the exception of the ATV212 series, all serial numbers

Cause:
To issue a run command forward in CiA402 profile, you must write the sequence 6,7,15 to the command word.  What sequence should be written to run reverse?

Resolution:
In order to run, Bits 0-3 must be all high, this translates to decimal value of 15.  Bit 11 of the control word determines the direction of the the drive.  When bits 0,1,2,3 are high  (decimal 15) the drive runs in Forward direction.  When bits 0,1,2,3,11 are high (decimal 2063) the drive runs in Reverse direction.

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