# Minimum position lag (P-AXIS-00169)

P-AXIS-00169 | Minimum position lag
Description | The parameter defines the minimum position lag.
Parameter | getriebe[i].slep_min
Data type | SGN32
Data range | 1 ≤ slep_min ≤ MAX(SGN32)
Axis types | T, R, S
Dimension | T: 0.1 µm | R,S: 0.0001°
Default value | 20000
Drive types | ----
Remarks | Standard position lag monitoring: The parameter is used for plausibility test for the dynamic position lag monitoring. Since large position lags can arise in the case of non-high dynamic systems and under certain circumstances and these position lags are recognized as position lag in rare cases, even in the case of P-AXIS-00167 = 1023 (dynamic position lag monitoring as if switched off), a useful value must be determined empirically in this case. The dynamic position lag monitoring uses a digital filter which estimates the position lag on the basis of the reference variable (command value). Usually, a value from some of a few 'mm' or ' ° ' can be used here.

Linear position lag monitoring:

The parameter defines the maximum permissible position lag on axis standstill.

Non linear position lag monitoring:

For this type of position lag monitoring the parameter is without significance.

Velocity independent position lag monitoring:

The parameter defines the maximum permissible position lag at axis standstill.