Delay reading of actual position after field bus start (P-AXIS-00567)

P-AXIS-00567

Delay reading of actual position after field bus start

Description

As soon as the drive field bus connected to the controller delivers cyclic values after controller start-up, the controller reads the actual positions delivered by the drive. During the transition into the cyclic processing it is assumed, that the drive controller already delivers a valid actual position.

However, this may not be the case with some drives and this may cause position lag errors or incorrectly initialised axis positions at controller start-up.

This parameter permits the delayed reading of the actual position for a definable number of bus cycles after field bus start. The exact parameter value must be determined by "trial and error".

Parameter

lr_hw[i].delay_tracking

Data type

UNS16

Data range

0 … MAX(UNS16)

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

0

Drive types

SERCOS, Profidrive, CANopen

Remarks