VL.CMD

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.

AKD BASIC:

Change this parameter only when the motor is not moving (MOVE.MOVING = 0). If you attempt to make a change while the motor is moving, an F826, "Cannot execute during a move" fault is produced.

General Information

Type	R/O Parameter
Units	Depends on UNIT.VROTARY or UNIT.VLINEAR 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

Variant	Supported
MKD EtherCAT	Yes
AKD-N	Yes
MKD-N	Yes
MKD-C	No

EtherCAT CoE and CANopen
Index/Subindex	Object Start Version
606Bh /0	M_01-00-00-000