AXIS#.MT.V

Description

AXIS#.MT.V specifies the motion task velocity. This is the maximum speed the axis will use when moving to the target position. The axis will accelerate up to this speed and stay at this speed before decelerating to a stop at the desired position. The axis may not get to this speed if the distance is short.

The motion task velocity is also limited by AXIS#.VL.LIMITP or AXIS#.VL.LIMITN depending on the direction of the motion task.

By default AXIS#.MT.V is zero and will generate an error if you try to start the motion task with AXIS#.MT.MOVE. You have to set AXIS#.MT.V to a non-zero value before this motion task can be started.

Examples

Code

Sets the velocity of motion task 0 to 60 RPM. The first parameter is the motion task number and the second is the velocity.

-->AXIS1.MT.V 0 60

Versions

Action	Version	Notes
Implemented	02-00-00-000

General Information

Type	Read Only Array
Units	Rotary: RPM, RPS, deg/s, (custom units)/s, rad/s See Velocity Units for details.
Range	Depends on units. See Velocity Range for details.
Default Value	0 RPM Depends on units. See Velocity Units for details.
Data Type	Float
Stored in Non-Volatile Memory	Yes

Variants Supported

All variants are supported.

Fieldbus Information

EtherCAT CoE and CANopen
Command	Index	SubIndex	Data Type	Units	Float Scale	Access	PDO Mappable
AXIS1.MT.V 0	50d3h	01h	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 1	50d3h	02h	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 2	50d3h	03h	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 3	50d3h	04h	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 4	50d3h	05h	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 5	50d3h	06h	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 6	50d3h	07h	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 7	50d3h	08h	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 8	50d3h	09h	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 9	50d3h	0ah	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 10	50d3h	0bh	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 11	50d3h	0ch	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 12	50d3h	0dh	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 13	50d3h	0eh	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 14	50d3h	0fh	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 15	50d3h	10h	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 16	50d3h	11h	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 17	50d3h	12h	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 18	50d3h	13h	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 19	50d3h	14h	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 20	50d3h	15h	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 21	50d3h	16h	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 22	50d3h	17h	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 23	50d3h	18h	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 24	50d3h	19h	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 25	50d3h	1ah	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 26	50d3h	1bh	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 27	50d3h	1ch	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 28	50d3h	1dh	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 29	50d3h	1eh	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 30	50d3h	1fh	Signed32	Velocity	-	Read/Write	No
AXIS1.MT.V 31	50d3h	20h	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 0	51d3h	01h	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 1	51d3h	02h	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 2	51d3h	03h	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 3	51d3h	04h	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 4	51d3h	05h	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 5	51d3h	06h	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 6	51d3h	07h	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 7	51d3h	08h	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 8	51d3h	09h	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 9	51d3h	0ah	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 10	51d3h	0bh	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 11	51d3h	0ch	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 12	51d3h	0dh	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 13	51d3h	0eh	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 14	51d3h	0fh	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 15	51d3h	10h	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 16	51d3h	11h	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 17	51d3h	12h	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 18	51d3h	13h	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 19	51d3h	14h	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 20	51d3h	15h	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 21	51d3h	16h	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 22	51d3h	17h	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 23	51d3h	18h	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 24	51d3h	19h	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 25	51d3h	1ah	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 26	51d3h	1bh	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 27	51d3h	1ch	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 28	51d3h	1dh	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 29	51d3h	1eh	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 30	51d3h	1fh	Signed32	Velocity	-	Read/Write	No
AXIS2.MT.V 31	51d3h	20h	Signed32	Velocity	-	Read/Write	No

EtherNet/IP
ID	Instance	Attribute	Name	Data Type	Access	User Mappable
6309	1	6309 (0x18a5)	AXIS1.MT.V	Signed32[32]	Read/Write	Yes
71845	2	6309 (0x18a5)	AXIS2.MT.V	Signed32[32]	Read/Write	Yes

PROFINET
Parameter	PNU	Data Type	Access	Units
AXIS#.MT.V	6309	Float[32]	Read/Write	Velocity