# ID 70212

Value of 'field_bus_allows_optimized_schedule' is not identical for all axes.
Description | The setting “field_bus_allows_optimised_schedule” in the axis parameters must be identical for all axes. This option is switched off by default. In this case, new manipulated variables are first calculated in the position controller using the setpoints of the interpolator from the last cycle. Only then are new setpoints requested by the interpolator. Therefore the time is reduced, which is needed for the calculation of the set values (e.g. reducing the temporal jitter).

If this option is switched on, new actual values are requested from the interpolator at the beginning of each position controller cycle, and new manipulated variables are only calculated afterwards. Therefore, the cycle offset (one cycle) of the generated command values is eliminated.

Response | Class | 1 | Warning. The function is turned off.
Solution | Class | 1 | Use the identical setting for all axes
Parameter | %1: | Logical axis number [-]
Logical axis number of affected axis see P-AXIS-00016
%2: | Drive type [-]
Drive type of concerned axis, see P-AXIS-00020
%3: | Current value [-]
Setting for actual axis
%4: | Error value [-]
Global setting
Error type | 11, Error message from position controller.