Time shift between command and actual values (P-AXIS-00055)

When using adaptive feedforward this parameter can be used to define the time shift between command and actual values due to the bus transmission times. With a value > 0 the feedforward values are calculated from the delayed command and actual values. With this parameter the axis behavior can be optimized when using adaptive feedforward.

Variable name

Type

Permissible range

Axis type

Dimension

delay_time

UNS16

0 < delay_time < ADAPT_VOFI_DELAY -1

T, R

Cycles

ValueADAPT_VOFI_DELAY

Significance

application-dependent

Maximum allowed time shift between command and actual values