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TVEL
Transfer Current Commanded Velocity
Type
Transfer
Syntax
<a_><!>TVEL
Units
Reported value is in units/sec (scalable by SCLV)
(linear motors: see DMEPIT for linear/rotary conversion)
Range
n/a
Default
n/a
Response
TVEL:
*TVEL23.3450
See Also
DMEPIT, DMONAV, DMONBV, DMVLIM, ERES, SCALE, SCLV, TVELA, V,
[ VEL ]
The
command reports the internal commanded velocity. It is not the programmed velocity (
TVEL
limited by
. The sign determines the direction of motion. If scaling is enabled (
DMVLIM
value is scaled by the velocity scaling factor (
Stepper Axes: If scaling is disabled (
commanded counts/sec divided by the drive resolution
Servo Axes: If scaling is disabled (
TVELA
Transfer Current Actual Velocity
Type
Transfer
Syntax
<a_><!>TVELA
Units
Reported value is in units/sec
(linear motors: see DMEPIT for linear/rotary conversion)
Range
n/a
Default
n/a
Response
TVELA:
*TVELA+1.55
See Also
DMEPIT, DMONAV, DMONBV, DMVLIM, SCALE, SCLV, SFB, TVEL, V,
[ VEL ], [ VELA ]
For servos, the
command reports the velocity as derived from the feedback device. The sign
TVELA
determines the direction of motion.
Rotary Motors:
Positive values represent clockwise motion and negative values represent
counter-clockwise motion (assuming you connected the feedback device
according to instructions in the Hardware Installation Guide).
You can use the
command at all times; therefore, even if no motion is being commanded,
TVELA
will still report a non-zero value as it detects the servoing action.
Units of Measure:
GT6K Steppers: The value reported by steppers is the
feedback device. If scaling is disabled (
velocity in commanded counts/sec divided by the drive resolution
GV6K Servos: If scaling is enabled (
scaling factor (
). If scaling is not enabled (
SCLV
revs/sec or resolver revs/sec.
Example:
TVELA
; Reports the current actual velocity; since no motion is
; commanded, the servoing velocities are reported.
; Example response is:
326
Gemini GV6K/GT6K Command Reference
).
SCLV
), the value is measured in revolutions/sec (actual velocity in
SCALEØ
value).
DRES
), the value is measured in encoder revs/sec or resolver revs/sec.
SCALEØ
TVEL
), the value is measured in revolutions/sec (actual
SCALEØ
), the velocity value will be scaled by the velocity
SCALE1
), the value returned will be in encoder
SCALEØ
*TVELA+0.0097
www.comoso.com
Product
GT6K
GV6K
), the
SCALE1
Product
GT6K
GV6K
Clockwise
Counter-clockwise
(positive counts)
(negative counts)
value, not velocity derived from the
value).
DRES
Rev
6.0
6.0
), and is
V
TVEL
Rev
6.0
6.0
TVELA
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