text: <s>[INST] Kinetix 300 - setting Negative Motion Polarity over Ethernet/IP? Hi , I am starting a project for which I am leaning towards using a 1769-L24ER-QB1B CompactLogix PLC. I will also be using a Kinetix 300 servo drive (2097-V33PR3) for web tension control. The Kinetix 300 will be following a -10 to +10 VDC control signal from a Dover Flexo Automatic Tension Controller. I’ve used the Kinetix 300 in this manner twice before and it worked great. The one thing on this job that I have not done before is that I would like to be able to use ethernet comms from the CompactLogix PLC to set / reverse the direction (counter-clockwise/clockwise) that corresponds to a positive / negative control signal. On my previous two projects, I was able to change this manually by using MotionView OnBoard to check (or uncheck) the checkbox for Negative Motion Polarity (on the MotionView | General tab). Now, rather than having to log on to MotionView, I'd like to be able to control this setting from within my PLC program. I have added the 2097-V33PR3 to my RSLogix 5000 project IO tree, but when I look through all the tags that came along with the Drive Instance, I don't see anything that resembles a Negative Motion Polarity setting. Can anyone tell me if / how I can get at this setting? Also, I have read that the 1769-L24ER-QB1B CompactLogix PLC that I plan on using does not support Integrated Motion over Ethernet/IP, and I am aware that there are CompactLogix PLC's that do support this. If the only thing I want to do with this drive over Ethernet/IP is to change/set the Negative Motion Polarity setting as I've described above, do I need support for Integrated Motion over Ethernet/IP? Thanks in advance, Paul [/INST] The K300 does not use CIP motion, so using the L24 processor to control it is not a problem at all. I've used the K300 with CompactLogix successfully for position control. The accelerator toolkit has some nice code that mimics CIP motion commands. I do not know specifically which command would do the negative motion polarity though. \\n </s>