# Disabling drive controller for position lag error (P-AXIS-00537)

P-AXIS-00537 | Disable drive controller on position lag error
Description | By default, the CNC-internal error reaction is executed when a position lag error occurs (see also P-ERR-70020 and P-ERR-70081) in order to bring the axis to a standstill. The control bits to the drive controller are not changed. By setting this parameter to the value "ON", enable bits are reset in the control word for the supported drive types for a position lag error. In this case, drive-internal functionalities are activated and this leads to the fastest possible stop of the axis with subsequent torque cut-off. For the different drive types, they are:

Drive type: Modifications in control word:

SERCOS Resetting bit 15 (0x8000) control word

CANopen Resetting bits 0, 3 and 4 (0x0019) in control word (Drive Shutdown)

Profidrive Resetting bit 2 (0x0004) in STW1

Simulation Parameter is ignored

Parameter | antr.position_lag_drive_disable
Data type | STRING
Data range | DEFAULT: Activation of function depends on drive type: Drive type: Modifications in control word: SERCOS ON CANopen* OFF Profidrive** OFF

Simulation OFF

*The default value of OFF for CANopen drives is based on the fact, that it is possible here to switch the drive immediately torque-free by setting object 0x605B (Shutdown option code) to 0 in response to the shutdown command. Otherwise the drive would then not braked when a tracking error occurs, which is not desired.

**For Profidrive drives, the control word 1 must correspond to the Profidrive profile.

ON: When a position lag error occurs, the control word is changed according to the above table.

OFF: If a position lag error occurs, the control word is not changed.

Axis types | T, R, S
Dimension | T: ---- | R,S: ----
Default value | DEFAULT
Drive types | SERCOS, CANopen, Profidrive, Simulation
Remarks | Before using this parameter, it is essential to check with the manufacturer documentation, especially for CANopen and Profidrive drives, whether the above modification of the control word leads to ramp-down of the drive and a subsequent shutdown of the torque.

It makes sense for this parameter to select the same setting as for P-AXIS-00542 which defines the reaction to a bus error.