# Delay filter acts only on command positions (P-AXIS-00513)

P-AXIS-00513 | Delay filter acts only on command positions
Description | If axis filters (see [FCT-A7]) are used, the feedforward values are calculated by default from the filtered command position values. This parameter sets the calculation of the feedforward values from the unfiltered command positions while the command positions are delayed by the filter. This achieves the situation that the feedforward values lead the command position.
Parameter | kenngr.delay_filter_only_position
Data type | BOOLEAN
Data range | 0/1
Axis types | T, R, S
Dimension | T: ---- | R,S: ----
Default value | 0
Drive types | ----
Remarks | The delay of the commands position against the feedforward values only works when the delay filter is configured as last filter in a filter chain. When P-AXIS-00513 is set and another filter is configured after the delay filter, the error message P-ERR-110583 is output and the delay filter is deactivated.