# Use of position lag calculated in drive (P-AXIS-00466)

P-AXIS-00466 | Use of position lag calculated in drive
Description | If the position control loop is closed in the drive (seeP-AXIS-00320), the parameter can be used to specify that the CNC uses the position lag calculated in the drive (e.g. for display data or position lag monitoring). This presupposes that the actual position lag is configured in the cyclic process data and that the value is transmitted from the drive:

- SERCOS-Ident S-0-0189

- CANopen Objekt 0x60F4

Parameter | antr.use_drive_following_error
Data type | BOOLEAN
Data range | 0: The calculation of the position lag error takes place in the CNC (default). 1: The CNC does not calculate the position lag error and uses the position lag transmitted from the drive instead.
Axis types | T, R, S
Dimension | T: ---- | R,S: ----
Default value | 0
Drive types | SERCOS, CANopen
Remarks | The CNC can use the drive position lag from SERCOS and CANopen drives only. The position control loop must be closed in the drive.