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 |
|
|
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.
| Index/Subindex | Object Start Version |
|---|---|
| 606Bh /0 | M_01-00-00-000 |
| Fieldbus | Parameter | Address | Attributes | Signed? |
|---|---|---|---|---|
|
PROFINET |
VL.CMD_32 |
2425 |
DWord | Yes |
| Sercos® III | 8 Octets |
| Instance | Data Size | Data Type |
|---|---|---|
| 426 | 8 Byte Signed | Velocity |
| Register Address | Is 64 bit? | Attributes | Signed? | Object Start Version |
|---|---|---|---|---|
|
850 |
Yes | low 32 bit word | Yes | M_01-03-00-000 |
Related Topics
