VL.CMD

Description

VL.CMD returns the actual velocity command as it is received in the velocity loop entry after all velocity limits (such as VL.LIMITN and VL.LIMITP). See velocity loop design diagram for more details.

AKD BASIC:

Change this parameter only when the motor is not moving (MOVE.MOVING = 0). If you attempt to make a change while the motor is moving, an F826, "Cannot execute during a move" fault is produced.

General Information

Type

R/O Parameter

Units

Depends on UNIT.VROTARY or UNIT.VLINEAR

Rotary: rpm, rps, deg/s, (custom units)/s, rad/s

Linear: counts/s, mm/s, µm/s, (custom units)/s

Range

N/A

Default Value

N/A

Data Type

Float

See Also

VL.FB, VL.CMDU, VL.LIMITP, VL.LIMITN

Start Version

M_01-00-00-000

Variants Supported

Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes*
AKD EtherNet/IP Yes
AKD PROFINET Yes
AKD Sercos® III Yes
AKD-N Yes
AKD-C No

*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.

Fieldbus Information

If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type. For information on SynqNet parameters see SynqNet Supported Parameters.

EtherCAT CoE and CANopen
Index/Subindex Object Start Version
606Bh /0 M_01-00-00-000
PROFINET and Sercos® III
Fieldbus Parameter Address Attributes Signed?

PROFINET

VL.CMD_32

2425

DWord Yes
Sercos® III 8 Octets
EtherNet/IP
Instance Data Size Data Type
426 8 Byte Signed Velocity
Modbus
Register Address Is 64 bit? Attributes Signed? Object Start Version

850

Yes low 32 bit word Yes M_01-03-00-000

Related Topics

"Velocity Loop"

Position Loop