CDHD Variables and Commands
VarCom Reference Manual 335
PTPVCMD
Definition PTP Generator Velocity Command
Type Variable (R)
Description Reports the derivative of the position command profile in
velocity units. PTPVCMD is useful for recording and viewing
the actual velocity and the velocity command, which is
available only as a derivative of the position profile.
In HD control (POSCONTROLMODE 1), the variable VCMD is
not used.
In cascaded control (POSCONTROLMODE 0), the variable
VCMD shows a value similar to PTPVCMD. However, since
VCMD is issued by the position controller as a command to
the velocity control, it is not strictly a reference signal (as it
includes the response of the position control to PFB).
Syntax PTPVCMD
Firmware 1.0.6
Drive status Enabled | Disabled
Range Not Applicable
Default value Not Applicable
Unit If MOTORTYPE 0 (Rotary):
If UNITSROTVEL 0 = rps
If UNITSROTVEL 1 = rpm
If UNITSROTVEL 2 = deg/s
If UNITSROTVEL 3 = user/s
If MOTORTYPE 2 (Linear):
UNITSLINVEL 1 = mm/s
UNITSLINVEL 2 = user/s
Non-volatile No
See also MOVEABS
MOVEINC
PCMD
PTPTE
VCMD
CANopen 20B1h, sub-index 0
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