Mt.vcmd - Kollmorgen AKD-C01007-MCEC Benutzerhandbuch

AKD Benutzerhandbuch | 24.29.22 MT.VCMD

24.29.22 MT.VCMD

General Information
Type
Description
Units
Range
Default
Value
Data Type
See Also
Start Version M_01-00-00-000
Variants Supported
AKD Base
AKD with Position Indexer
AKD EtherCAT
AKD CANopen
AKD BASIC
AKD SynqNet
AKD EtherNet/IP
AKD Profinet
AKD sercos ® III
AKD-N
AKD-C
Fieldbus Information
Fieldbus
Profinet
sercos ® III
Fieldbus Index/Subindex Is 64 bit?
Modbus 568
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:
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
l
976 KOLLMORGEN | Mai 2014
R/O Parameter
Reads the derivative of PL.CMD; active in opmode 2 (position) only.
Depends on UNIT.VROTARY (S. 1124) or UNIT.VLINEAR (S.
1122)
N/A
N/A
Float
N/A
Variant Supported
Parameter Address Attributes Signed?
DWord
MT.VCMD_32 2284
8 Octets
Yes Low 32 bit word Yes
No
Yes
Yes
Yes
No
No
Yes
Yes
Yes
Yes
No
Yes
Attributes Signed? Object Start Version
M_01-03-00-000