### VD

is a vector variable that sets the D (forward path) polynomial of the Advanced Pole-Placement velocity controller (COMPMODE = 3). The vector defined by this variable includes five integers that represent the polynomial coefficients and a shift parameter that scales the polynomial. If this variable is changed, a REFRESH command is required.

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

SYNTAX: VD [vector1] [vector2] [vector3] ... [vector5] [scale]
EXAMPLE: VD 100 200 300 400 500 1

RANGES: vectorN = -32768 to 32767
scale = 0 to 15

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