Difference between revisions of "AXY:MC-Basic:group.POSITIONERRORDELAY"
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Revision as of 06:57, 29 May 2017
This property returns the number of SERCOS cycles delay detween a position command and the position feedback for the calculation of the position error.
If using micro interpolation on the drive, this delay may change from 2 cycles (no micro interpolation) to 3 (with micro interpolation).
Explicitly change this property when changing the micro interpolation mode on the drives. Otherwise, erroneous position error is calculated.
Short form
<group>.PEDel
Syntax
<group>.PositionErrorDelay = <value>
?<group>.PositionErrorDelay
Availability
All versions
Type
Long
Range
1 to 32
Units
SERCOS cycle times
Default
2 (Assuming no microinterpolation)
Scope
Task or Terminal
Limitations
To set the value within a task, the group must be attached to that task (using the ATTACH command) and disabled (Group.ENABLE = 0 )
Examples
G1.PEDel = 3