Use 0-10V + dir on 7i77 instead of +-10V out

Here is the reply
as for the ±10VDC, in the beginining, I really confirmed and it is no problem, and we also have specially statement on requirements to the manufacturer but we also don't know why they miss when producing, and I will check with them tomorrow and then tell us your further news.

There is no need to build any extra circuitry, you can (as PCW said) do it all in HAL.

You need to use the HAL abs component

This will take the +/- 10V signal as input and output 0-10V on the abs.0.out pin and direction on abs.0.is-negative

So, is there any timing issues going via HAL?

If the speed/torque isn't continuous through zero or there is a delay switching direction then that is likely to cause poor servo performance or instability.

Cheers
Bengt

tecno wrote: So, is there any timing issues going via HAL?

No, I don't think so, the direction output will update at the same
time as the voltage output (and, possibly importantly, only when the
voltage output is very small).
External hardware would only be able to change state when the voltage
switched polarity, so would be working on the same sort of timing.

Thanks for the guidance! I Think I will give it a try.
In theory I also Think it will work pretty good, but I will probably get some other servos. I don't like this "Dirty fix" and I will try to get the Money back from the seller.

I will just confirm that it was realy easy to use the ABS-Component and it works fine in software. I still have some issues with the servo's but will not put in more work on them since I have ordered new Omron servos instead. Thanks for the input!