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
|
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 |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
6021 |
1 |
6021 (0x1785) |
AXIS1.VL.CMD |
Signed32 |
Read Only |
Yes |
|
71557 |
2 |
6021 (0x1785) |
AXIS2.VL.CMD |
Signed32 |
Read Only |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.VL.CMD |
6021 |
Float |
Read Only |
Velocity |
Related Topics
