Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | 48.7 VL.CMD
This parameter displays the velocity loop feedforward value injected by the fieldbus.
Related Topics
1 Velocity Loop
48.7 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 or
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 (pg 457), VL.CMDU (pg 455), VL.LIMITP (pg 466), VL.LIMITN (pg 464)
Start Ver-
sion
M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CAN-
open
/0 M_01-00-00-000
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 (pg 464) and VL.LIMITP (pg 466)). See velocity loop design
diagram for more details.
Related Topics
1 Velocity Loop
1 Position Loop
18 Block Diagrams
48.8 VL.CMDU
General Information
Type R/W Parameter
Description
Sets the user velocity command; active in opmodes 1 (velocity) and 2 (position)
only.
Units
Depends on or
Rotary: rpm, rps, deg/s, custom units/s, rad/s
Linear: counts/s, mm/s, µm/s, custom units/s
Kollmorgen™ | December 2012 455