Delay reading of actual position after field bus start (P-AXIS-00567)
P-AXIS-00567 | Delay reading of actual position after field bus start | |
Description | As soon as the drive field bus connected to the controller delivers cyclic values after controller start-up, the controller reads the actual positions delivered by the drive. During the transition into the cyclic processing it is assumed, that the drive controller already delivers a valid actual position. However, this may not be the case with some drives and this may cause position lag errors or incorrectly initialised axis positions at controller start-up. This parameter permits the delayed reading of the actual position for a definable number of bus cycles after field bus start. The exact parameter value must be determined by "trial and error". In order to use this functionality, the value 100 must be assigned to the axis parameters P-AXIS-00535 and the value 0x1000 must be assigned to the axis parameter P-AXIS-00536. If these parameters are not set, tracking mode is set for the specified number of bus cycles after the bus is started. This then permits the suppression of position lag errors at start-up. | |
Parameter | lr_hw[i].delay_tracking | |
Data type | UNS16 | |
Data range | 0 … MAX(UNS16) | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 0 | |
Drive types | SERCOS, Profidrive, CANopen, Terminal | |
Remarks |
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