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[ VELA ]
Velocity (Actual) Assignment
Type
Assignment or Comparison
Syntax
See below
Units
n/a
Range
n/a
Default
n/a
Response
n/a
See Also
ERES, SCLV, TVEL, TVELA, [V], V, [VEL]
The
operator is used to compare the current actual velocity (as derived from the feedback device) to
VELA
another value or variable, or to assign the current velocity to a variable. If the programmed velocity
information is required, refer to the
required, refer to the
[VEL]
The sign determines the direction of motion. You can use the
no motion is being commanded,
Syntax:
where "
VARn=VELA
.
IF(VELA>4)
Units of Measure:
GT6K Steppers: The velocity is always revs/sec (actual velocity in counts/sec multiplied by the
value if in
ERES
ENCCNT1
GV6K Servos: If scaling is enabled (
scaling factor (
). If scaling is not enabled (
SCLV
revs/sec or resolver revs/sec.
Example:
IF(VELA<25)
; If the current velocity is less than 25 units/sec,
; then do the statements between IF and NIF
VAR1=V*2
; Variable 1 = programmed velocity times 2
NIF
; End the IF statement
VF
Final Velocity
Type
Compiled Motion
Syntax
<a_><!>VF<r>
Units
n/a
Range
0 (non-zero values result in error message)
Default
0
Response
n/a
See Also
FOLRN, FOLRD, FOLMAS, FOLMD, GOBUF, SCLD, FOLEN, V
The
command designates that the motor will move the load the programmed distance in a preset
VF
segment, completing the move at a final speed of zero.
which marks an intermediate "end of move" within a profile.
command. Normal preset
GO
The
command remains in effect for the affected axis until a
VF
issue a
command.
RESET
Any non-zero value that is entered for
336
Gemini GV6K/GT6K Command Reference
operator; if the current commanded velocity information is
[V]
operator.
will still report a non-zero value as it detects the servoing action.
TVELA
" is the variable number, or
n
mode, or multiplied by
DRES
), the velocity value will be scaled by the velocity
SCALE1
SCALEØ
VF
moves always finish with zero velocity.
will result in an immediate error message.
VF
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operator at all times; therefore, even if
VELA
can be used in an expression such as
VELA
if in
mode).
ENCCNT0
), the value returned will be in encoder
applies only to the next (subsequent)
is used only in conjunction with the
VF
is executed on that axis, or until you
GOBUF
Product
Rev
GT6K
6.0
GV6K
6.0
Product
Rev
GT6K
6.0
GV6K
6.0
GOBUF
,
GOBUF
GOBUF
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