### VR

is a vector variable that defines the R (feed-forward path) polynomial of the Advanced Pole-Placement velocity controller (COMPMODE = 3). This vector includes three integers that represent the polynomial coefficients and three shift parameters, one that scales each polynomial. If this variable is changed, a REFRESH command is required.

NOTE: prior to firmware version 2.1.0, this command mnemonic was "R".

SYNTAX: VR [r0] [r0shift] [r1] [r1shift] [r2] [r2shift]
EXAMPLE: VR 10000 2 30000 4 50000 6

RANGES: rNvector = -2,147,483,647 to 2,147,483,647
rNshift = 0 to 32767

Firmware Versions: 2.1.0 and later (previously R)
Type: vector variable (R/W) Range: see above
Units: n/a Default: all 0’s
Opmodes: 0,1,4,8 Drive Status: en/dis EEPROM: yes