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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 , VL.CMDU , VL.LIMITP , VL.LIMITN

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

Related Topics

Velocity Loop

Position Loop

 

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