VL CMD

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VL.CMD

General Information
Type	R/O Parameter
Description	Reads the actual velocity command; active in opmodes 1 (velocity) and 2 (position) only.
Units	Depends on UNIT.VROTARY (pg 1) or UNIT.VLINEAR (pg 1) 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	VL.FB on pg. 1, VL.CMDU on pg. 1, VL.LIMITP on pg. 1, VL.LIMITN on pg. 1
Start Version	M_01-00-00-000

FieldbusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design	Index/Subindex	Object Start Version
EtherCATEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs COE and CANopen	606Bh/0	M_01-00-00-000

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 on pg. 1 and VL.LIMITP on pg. 1). See velocity loop design diagram for more details.