AXIS#.VL.CMD

Description

AXIS#.VL.CMD returns the actual velocity command as it is received in the velocity loop entry after all velocity limits (such as AXIS#.VL.LIMITN and AXIS#.VL.LIMITP). See velocity loop design diagram for more details.


  • When in Position Mode, VL.CMD contains the output of both desired trajectory velocity as well as the output of the position loop, if the pure trajectory velocity is deisred, refer to AXIS#.MT.VCMD.

    In Velocity Mode, VL.CMD will be equal to only the trajectory velocity command.

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read Only

Units

Depends on AXIS#.UNIT.VROTARY

Rotary: rpm, rps, deg/s, (custom units)/s, rad/s

Range

N/A

Default Value

N/A

Data Type

Float

Stored in Non-Volatile Memory

No

Variants Supported

All variants are supported.

Fieldbus Information

EtherCAT CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDO Mappable

AXIS1.VL.CMD

606bh

00h

Signed32

Velocity

-

Read only

Yes

AXIS2.VL.CMD

686bh

00h

Signed32

Velocity

-

Read only

Yes

EtherNet/IP

Name

ID

Hex

Data Type

Access

Units

AXIS1.VL.CMD

6021

1785

Signed32

Read Only

Velocity

AXIS2.VL.CMD

71557

1178

Signed32

Read Only

Velocity

PROFINET

Parameter

PNU

Data Type

Access

Units

AXIS#.VL.CMD

6021

Float

Read Only

Velocity

Related Topics

Velocity Loop

Position Loop