VL.CMDU

Description

VL.CMDU sets the user velocity command. When DRV.OPMODE is set to 1 (velocity loop) and DRV.CMDSOURCE is set to 0 (TCP/IP channel), then setting this value when the drive is enabled will cause the drive to rotate at the required velocity.

General Information

Type

R/W 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

Rotary

-15,000.000 to 15,000.000 rpm

-250.000 to 250.000 rps

-90000.000 to 90000.000 deg/s

-1250.000 to 1250.000 custom units/s

-1570.796 to 1570.796 rad/s

Linear

-1,073,741,824,000.000 to 1,073,741,824,000.000 counts/s

-8,000.000 to 8,000.000 mm/s

-8,000,000.000 to 8,000,000.000 µm/s

-1,250.000 to 1,250.000 custom units/s

Default Value

0

Data Type

Float

See Also

VL.FB, VL.CMD, DRV.OPMODE, DRV.CMDSOURCE, VL.LIMITN, VL.LIMITP

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
60FFh/0 M_01-00-00-000
PROFINET and Sercos® III
Fieldbus Parameter Address Attributes Signed?

PROFINET

VL.CMDU_32 2426 DWord Yes
Sercos® III 8 Octets
EtherNet/IP
Instance Data Size Data Type
427 8 Byte Signed Velocity
Modbus
Register Address Is 64 bit? Attributes Signed? Object Start Version

852

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

Related Topics

"Velocity Loop"