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--- eeros_architecture:hal:scaling_multi [2019/02/24 14:43] – [Input for Axis Position] graf
+++ eeros_architecture:hal:scaling_multi [2021/05/20 07:37] (current) – [Output to Control a Motor] ursgraf
@@ Line 34: / Line 34: @@
 </code>
 The HAL will calculate the scale and range of the whole chain considering the single stages. The range of the whole chain will be determined by the most restricting range of the single stages. The unit is determined by the unit of the last stage.
+==== Inverting the Signal ====
+If the output signal needs opposite sign, e.g. a motor turns in the wrong direction, you can simply add an inverting stage
+<code>
+  "channel0": {
+    "signalId": "dacOut",
+    "scale": [ { "id" : "dac",
+                 "minIn":    1000, "maxIn":  64000,
+                 "minOut": -9.787, "maxOut": 9.923 },
+               { "id" : "inv",
+                 "minIn":   -1.0, "maxIn":  1.0,
+                 "minOut":  1.0, "maxOut": -1.0 } ],
+    "range": [ { "id" : "dac",
+                 "minIn":       0, "maxIn":  65536,
+                 "minOut":  -10.0, "maxOut":  10.0 },
+                 { "id" : "amp",
+                 "minIn":   -10.0, "maxIn":  10.0,
+                 "minOut":  10.0, "maxOut": -10.0 } ],
+    "unit": "V"
+  }
+</code>
 ===== Input for Axis Position =====