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 (pg 1) 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.