# Delay between command value and actual value (P-AXIS-00191)

P-AXIS-00191 | Delay between command value and actual value
Description | This parameter is only active for digital drives (e.g. SERCOS). It defines the number of cycles between the output of the command values and the read-in of the actual values. The parameter is only used to calculate the position lag.
Parameter | antr.nbr_delay_cycles
Data type | UNS16
Data range | 0 ≤ nbr_delay_cycles ≤ 10
Axis types | T, R, S
Dimension | T: Number of interpolation cycles | R,S: Number of interpolation cycles
Default value | 4
Drive types | SERCOS, CANopen, KUKA
Remarks |