Parameters

P-AXIS-00167	Factor for dynamic position lag monitoring
Parameter	getriebe[i].slep_dyn
Description	The parameter has the position meaning depending on the set position lag monitoringP-AXIS-00172: Type 1: standard method Time constant of an estimation filter for dynamic position lag monitoring Type 2: linear method Factor which defines the dynamic components of the permissible position lag in addition to the theoretical component
Data type	SGN16
Data range	Type 1:700 ≤ P-AXIS-00167 < 1024 Type 2:0 ≤ P-AXIS-00167 < 1024
Dimension	-
Default	1000
Remarks	If the value is > 1024, a warning is issued and the value is set to 1024, i.e. position lag monitoring is off. This parameter must be set by recording the theoretical and real position lags.

P-AXIS-00168	Maximum position lag
Parameter	getriebe[i].slep_max
Description	Type 1: standard method Maximum permissible position lag Type 2: linear method Low limit of the permissible position lag in the case of dynamic position lag monitoring Type 4: velocity independent method Limit of the permissible position lag if the axis is moving
Data type	SGN32
Data range	0 ≤ P-AXIS-00168 ≤ MAX(SGN32)
Dimension	translatory: 0.1μm	rotatory: 0.0001°
Default	5000000
Remarks	-

P-AXIS-00169	Minimum positionlag
Parameter	getriebe[i].slep_min
Description	Type 1: standard method Maximum permissible position lag at standstill Low limit of the permissible position lag in the case of dynamic position lag monitoring Type 2: linear method Maximum permissible position lag at standstill Type 4: velocity independent method Maximum permissible position lag at standstill
Data type	SGN32
Data range	1 ≤ P-AXIS-00169 ≤ MAX(SGN32)
Dimension	translatory: 0.1μm	rotatory: 0.0001°
Default	5000000
Remarks	-

P-AXIS-00170	Time constant for dynamic position lag monitoring
Parameter	getriebe[i].slep_time_const
Description	This parameter describes the time constant of a PT1 element with which the permissible position lag is determined after a delay.
Data type	UNS32
Data range	-
Dimension	μs
Default	0
Remarks	The influence of the acceleration on the position lag during acceleration and deceleration can be compensated with this delay.

P-AXIS-00172	Type of dynamic position lag monitoring
Parameter	getriebe[i].slep_ueberw_typ
Description	The position lag monitoring type can be selected with this parameter.
Data type	UNS32
Data range	0: Position lag monitoring off 1: Standard position lag monitoring 2: Linear position lag monitoring 3: Non-linear position lag monitoring
Dimension	-
Default	0: Position lag monitoring off
Remarks	-

P-AXIS-00176	Suppressing position lag monitoring
Parameter	lr_param.suppress_pos_lag_error
Description	The position lag monitoring response can be deactivated with this parameter, but the maximum permissible position lag is still calculated and displayed with the chosen method.
Data type	BOOLEAN
Data range	0: Position lag monitoring is on 1: Position lag monitoring is off
Dimension	-
Default	0
Remarks	This parameter can be used for commissioning purposes.

P-AXIS-00191	Actual value delay in the case of a digital drive
Parameter	antr_digital.nbr_delay_cycles
Description	The run time between output of the command values and reading in the associated actual values is also taken into account during calculation of the position lag.
Data type	UNS16
Data range	0: No delay of actual values > 0: Delay of actual values in cycles
Dimension	Cycles
Default	0
Remarks	This parameter is currently used for SERCOS drives only.