# 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".

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
Remarks |