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

EtherCATClosed ***EtherCAT 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

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDOClosed PDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. 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