Description
MT.VCMD returns the derivative of the position loop trajectory (PL.CMD), which is therefore a velocity. MT.VCMD is updated while the drive is in DRV.OPMODE 2 and is processing the following motion types:
- Motion tasking
- Homing
- Electronic gearing
- Service motion
- External trajectory coming from a fieldbus
- External trajectory calculated from an analog input signal
General Information
|
Type |
R/O Parameter |
|
Units |
Depends on UNIT.VROTARY or UNIT.VLINEAR |
|
Range |
N/A |
|
Default Value |
N/A |
|
Data Type |
Float |
|
See Also |
N/A |
|
Start Version |
M_01-00-00-000 |
Variants Supported
| Variant | Supported |
|---|---|
| AKD Base | No |
| AKD with Position Indexer | Yes |
| AKD EtherCAT | Yes |
| AKD CANopen | Yes |
| AKD BASIC | No |
| AKD SynqNet | No |
| AKD EtherNet/IP | Yes |
| AKD PROFINET | Yes |
| AKD Sercos® III | Yes |
| AKD-N | Yes |
| AKD-C | No |
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.
| Fieldbus | Parameter | Address | Attributes | Signed? |
|---|---|---|---|---|
|
PROFINET |
MT.VCMD_32 |
2284 |
DWord | Yes |
| Sercos® III | 8 Octets |
| Instance | Data Size | Data Type |
|---|---|---|
| 285 | 8 Byte Signed | Velocity |
| Register Address | Is 64 bit? | Attributes | Signed? | Object Start Version |
|---|---|---|---|---|
|
568 |
Yes | Low 32 bit word | Yes | M_01-03-00-000 |
Related Topics
