AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
6.33.7 VL.CMD
General Information
Type R/O Parameter
Description
Reads the actual velocity command; active in opmodes 1 (velocity) and 2 (posi-
tion) only.
Units
Depends on UNIT.VROTARY or UNIT.VLINEAR UNIT.ACCLINEAR
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 Ver-
sion
M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CAN-
open
606Bh/0 M_01-00-00-000
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 850 Yes low 32 bit word Yes M_01-03-00-000
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.
459 Kollmorgenâ„¢ | March 30, 2012
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