AXIS#.MT.VCMD
Description
AXIS#.MT.VCMD returns the derivative of the position loop trajectory (AXIS#.PL.CMD) which is a velocity. AXIS#.MT.VCMD is updated while the drive is in AXIS#.OPMODE 2 and processes 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
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-00-00-000 |
General Information
|
Type |
Read Only |
|
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 |
Depends on units. See Velocity Units for details. |
|
Data Type |
Float |
|
See Also |
N/A |
|
Stored in Non-Volatile Memory |
No |
Variants Supported
All variants are supported.
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.MT.VCMD |
50d0h |
05h |
Signed32 |
Velocity |
- |
Read only |
No |
|
AXIS2.MT.VCMD |
51d0h |
05h |
Signed32 |
Velocity |
- |
Read only |
No |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
6310 |
1 |
6310 (0x18a6) |
AXIS1.MT.VCMD |
Signed32 |
Read Only |
Yes |
|
71846 |
2 |
6310 (0x18a6) |
AXIS2.MT.VCMD |
Signed32 |
Read Only |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.MT.VCMD |
6310 |
Float |
Read Only |
Velocity |
Related Topics
