# Switch on delay for I-position control (P-AXIS-00497)

P-AXIS-00497 | Switch on delay for I-position control
Description | I-position control is only activated when the drive signals that it is ready to follow the command values. This is detected by the controller which evaluated the status bits provided by the drive. When the drive does not follow the command values despite the signalled state, an output value may occur at the I-controller output and this leads to a beat on the axis.

This parameter defines a delay for activation of the I-controller.

When the maximum value is overshot, the error message P-ERR-110573 is output and the value is corrected to 500'000.

Parameter | lr_param.i_control_on_delay
Data type | UNS32
Data range | 0 ≤ i_control_on_delay ≤ 500'000
Axis types | T, R, S
Dimension | T: µs | R,S: µs
Default value | 0
Drive types | ----
Remarks |