Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | 48.9 VL.ERR
General Information
Range
Rotary
-15,000.000 to 15,000.000 rpm
-250.000 to 250.000 rps
-90000.000 to 90000.000 deg/s
-1250.000 to 1250.000 custom units/s
-1570.796 to 1570.796 rad/s
Linear
-1,073,741,824,000.000 to 1,073,741,824,000.000 counts/s
-8,000.000 to 8,000.000 mm/s
-8,000,000.000 to 8,000,000.000 µm/s
-1,250.000 to 1,250.000 custom units/s
Default
Value
0
Data Type Float
See Also
VL.FB (pg 457), VL.CMD (pg 455), DRV.OPMODE (pg 294),
DRV.CMDSOURCE (pg 267), VL.LIMITN (pg 464), VL.LIMITP (pg 466)
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.CMDU sets the user velocity command.
When DRV.OPMODE (pg 294) is set to 1 (velocity loop) and DRV.CMDSOURCE (pg 267) is
set to 0 (TCP/IP channel), then setting this value when the drive is enabled will cause the drive
to rotate at the required velocity.
Related Topics
1 Velocity Loop
48.9 VL.ERR
General Information
Type R/O Parameter
Description
Sets the velocity error; 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
Range N/A
Default
Value
N/A
Data Type Float
See Also VL.CMD (pg 455), VL.FB (pg 457)
Start Version M_01-00-00-000
456 Kollmorgen™ | December 2012