Other Settings

Drive Mode

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‘STANDARD’: There is currently only one drive mode, and that is the ‘STANDARD’ mode. In principle, other modes are conceivable in the execution of a more open system.

Drift Compensation (DAC-Offset)

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This value is added to the drive control level. In this way, a constant offset can be added to the output, for example to compensate for zero point deviations in analog drives.
See section Automatic DAC offset adjustment.

Following Error Calculation (Following Error)

The following error corresponds to the position lag, also referred to as position lag value.

Position lag value = actual position - current set position.

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The following error can be calculated with the NC or in the hardware drive. For all hardware drives working in position control mode, the calculation should be done externally in the hardware drive.

‘Intern’: The following error is calculated internally in TwinCAT.

‘Extern’: The following error is calculated externally in the drive controller.

Error Tolerance

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Some hardware drive errors can be parameterized on the drive side so that an error is signaled but the drive continues to follow the setpoints.

If the parameter Error Tolerance is set to ‘IGNORE SELECTED ERRORS’, these errors do not lead to an immediate stop of the axis by the NC.

The user recognizes the drive error by the flag DriveDeviceError in StateDWord of the NC axis and must stop the axis using the suitable PLC code.