AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
6.33.20 VL.LIMITN
General Information
Type NV Parameter
Description
Sets the velocity lower limit; active in opmodes 1 (velocity) and 2 (position)
only.
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
Rotary:
-15,000.000 to 0.000 rpm
-250.000 to 0.000 rps
-90,000.000 to 0.000 deg/s
-1,250.000 to 0.000custom units/s
-1570.796 to 0.000 rad/s
Linear:
-1,073,741,824,000.000 to 0.000 counts/s
-250.000*MOTOR.PITCH to 0.000 mm/s
-250,000.000*MOTOR.PITCH to 0.000 µm/sec
-1,250.000 to 0.000 custom units/s
Default
Value
Rotary:
-3,000.000 rpm
-50.000 rps
-18,000.002 deg/s
-250.000 (custom units)/s
-314.159 rad/s
Linear:
-0.050 counts/s
-50*MOTOR.PITCH mm/s
-50,000.004*MOTOR.PITCH µm/sec
-250.000 custom units/s
Data Type Float
See Also VL.LIMITP , VL.CMD
Start Ver-
sion
M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CAN-
open
3623h/0 M_01-00-00-000
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 876 Yes low 32 bit word Yes M_01-03-00-000
Description
VL.LIMITN sets the velocity command negative limit.
If the input to the velocity loop is lower than VL.LIMITN, then the actual velocity command
VL.CMD is limited by the value of VL.LIMITN.
Kollmorgenâ„¢ | March 30, 2012 472
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