Danaher Motion
09/05
VARIABLE AND COMMAND LIST
VarCom Reference
M-SS-017-04 Rev. M
101
VFI
A vector variable that defines the filter at the input of the Advanced
Pole-Placement velocity controller (COMPMODE = 3). The vector
defined by this variable includes five integers that represent the
polynomial coefficients, two shift parameters, and one that scales each
polynomial. A
REFRESH
is required if this variable changes.
Filter structure: (b0 + b1*z-1 + b2*z-2) / (1 + a1*z-1 +a2*z-2).
Syntax:
VFI
[b0] [b1] [b2] [b_shr] [a1] [a2] [a_shr]
Range:
[aN], [bN]
32767 to -32768
[a_shr], [[b_shr]
0 to 32767
Firmware Versions:
3.2.0 and later
Opmodes:
0,1,4,8
Type:
vector variable (R/W)
Units:
N/A
Default:
1 0 0 0 0 0 0
Drive Status:
EN/DIS
Example:
VF 100 200 300 4 500 600 7
EEPROM:
Yes
VH
A vector variable that defines the H (feedback path) polynomial of the
Advanced Pole-Placement velocity controller (COMPMODE = 3). The
vector defined by this variable includes four integers that represent the
polynomial coefficients, four shift parameters, and one that scales each
polynomial. A
REFRESH
is required if this variable changes.
NOTE
Prior to firmware version 2.1.0, this command mnemonic
was “H”.
Syntax:
VH
[h0] [h0shift] [h1] [h1shift] [h3] [h3shift]
Range:
[hN] =
-2,147,483,647 to 2,147,483,647
[
hNshift
]=
0 to 32767
Firmware Versions:
3.2.0 and later
Opmodes:
0,1,4,8
Type:
vector variable (R/W)
Units:
N/A
Default:
0 (all parameters)
Drive Status:
EN/DIS
Example:
VF 100 200 300 4 500 600 7
EEPROM:
Yes
VLIM
Sets the application velocity limit, allowing you to limit the motor’s peak
velocity.
VLIM
limits the accepted velocity command (using the J
command in Opmode 0) issued either by the user or by the control loops
(in Opmode 1).
VLIM
is an independent variable that is not calculated
from hardware parameters and is not tied to any other variables.
VLIM
is
similar to
ILIM
(used in Opmodes 2 & 3) and can be used to protect
delicate load equipment. For rotary motors, VLIM > 6100 only if
ENCOUT
≤
1024, and VLIM > 1500 only if ENCOUT
≤
4096.
Firmware Versions:
All
Type:
variable (R/W)
Range:
10 to VMAX
Default:
VMAX
Opmodes:
0,1,4,8
Drive Status:
DIS
Units:
rotary: rpm
EEPROM:
N/A
linear: mm/sec
