Difference between revisions of "AXY:MC-Basic:axis.POSITIONERRORDELAY"
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|DESCRIPTION= | |DESCRIPTION= | ||
| − | This property returns the number of SERCOS cycles | + | This property returns the delay, as a number of SERCOS cycles, between 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). | If using micro interpolation on the drive, this delay may change from 2 cycles (no micro interpolation) to 3 (with micro interpolation). | ||
| − | + | This properly must be explicitly changed when switching the micro interpolation mode on the drives. Otherwise, an erroneous position error is calculated. | |
|TYPE= | |TYPE= | ||
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|LIMITATIONS= | |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 ) | + | To set the value within a task, the axis must be attached to that task (using the ATTACH command) and disabled (Axis.ENABLE = 0) |
|EXAMPLE= | |EXAMPLE= | ||
Revision as of 09:27, 19 March 2014
This property returns the delay, as a number of SERCOS cycles, between 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).
This properly must be explicitly changed when switching the micro interpolation mode on the drives. Otherwise, an 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