AKD User Guide | MT Parameters and Commands
MT.VCMD
General Information
Type R/O Parameter
Description Reads the derivative of PL.CMD; active in opmode 2 (position) only.
Units Depends on UNIT.VROTARY or UNIT.VLINEAR
Range N/A
Default Value N/A
Data Type Float
See Also N/A
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
Modbus 568 M_01-03-00-000
Description
MT.VCMD returns the derivative of the position loop trajectory (PL.CMD), which is therefore a velocity.
MT.VCMD is updated while the drive is in DRV.OPMODE 2 and is processing the following motion types:
l Motion tasking
l Homing
l Electronic gearing
l Service motion
l External trajectory coming from a fieldbus
l External trajectory calculated from an analog input signal
Related Topics
12.2 Motion Tasks
536 Kollmorgen | December 2010
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