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Command Language 6-7
Table 6-1 Transaction Specification Table Continued
T# Name Type Data Field Class Description
6 HzSpeedRef Set/
Get
INT
INT
I,
All
Hertz Speed
Reference.
Set Units: 0.1 Hz
(one decimal place)
7 SpeedRef Set/
Get
INT
INT
E,V,S,
All
Speed reference
Units: RPM
(Standard Get
Resolution)
8 SpeedRefHigh Set/
Get
DINT E,S,V Speed reference
(High Resolution)
Units: 1/256 RPM .
The middle 16 bits
mirror SpeedRef.
Not supported by all
product classes.
9 TorqueRef Set/
Get
INT S,V Torque reference
(Current)
Scaling: ±15bit
(32767) =
programmed current
limit.
12 PositionRef Set/
Get
DINT S, V* Position Reference
Scaling = quadrature
counts (4 x
feedback counts per
rev.)
13 PositionSpeed Set/
Get
INT S, V* Positioning Speed
Reference
Max speed used for
positioning
commands. Also
referred to as feed
rate or target
velocity.
Units: RPM
15 Position Set/
Get
DINT S, V* Position counter
Scaling = quadrature
V* = Vector with custom software for positioning