Difference between revisions of "AXY:MC-Basic:axis.POSITIONERRORDELAY"
m |
m |
||
| Line 41: | Line 41: | ||
|SEE ALSO= | |SEE ALSO= | ||
* [[Axystems:MC-Basic:SERCOS.CYCLETIME|SERCOS.CYCLETIME]] | * [[Axystems:MC-Basic:SERCOS.CYCLETIME|SERCOS.CYCLETIME]] | ||
| − | * [[Axystems | + | * [[Axystems:SimulatedAxes| Simulated Axes]] |
* [[Axystems:Position_Error_Delay_Compensation_Algorithm | Position Error Delay Compensation Algorithm]] | * [[Axystems:Position_Error_Delay_Compensation_Algorithm | Position Error Delay Compensation Algorithm]] | ||
| − | * [[Axystems | + | * [[Axystems:SimulatedAxes#Simulated_Axes | Simulated Axes ]] |
* [[Axystems:MC-Basic:axis.POSITIONCOMMANDHISTORY | POSITIONCOMMANDHISTORY]] | * [[Axystems:MC-Basic:axis.POSITIONCOMMANDHISTORY | POSITIONCOMMANDHISTORY]] | ||
}} | }} | ||
Revision as of 11:01, 27 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