AXY:MC-Basic:axis.POSITIONERRORDELAY

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

<axis>.PEDel

Syntax

<axis>.PositionErrorDelay = <value>

?<axis>.PositionErrorDelay

Availability

All versions

Type

Long

Range

1 to 9

Units

SERCOS cycle times

Default

2 (Assuming no microinterpolation)

Scope

Task or Terminal

Limitations

To set the value within a task, the axis must be attached to that task (using the ATTACH command) and disabled (Axis.ENABLE = 0 )

Examples

A1.PEDel = 3

See Also

• SERCOS.CYCLETIME