Description
PL.ERR reads the position error present when the drive is controlling the position loop. PL.ERR is the difference between the actual position of the motor shaft (PL.FB) and the commanded position of the drive (PL.CMD). If the drive is not in the position operating mode (DRV.OPMODE = 2), then the PL.ERR value is not generated by the drive and this parameter is read as 0.
AKD BASIC Notes
-
-
When you enable the position error interrupt (by setting INTR.PL.ERR=1), the Position Error fault is disabled. In situations where it would have occurred, a position error interrupt is generated instead.
General Information
|
Type |
R/O Parameter |
|
Units |
counts, rad, deg, (custom units) |
|
Range |
N/A |
|
Default Value |
N/A |
|
Data Type |
Float
|
|
See Also |
|
|
Start Version |
M_01-00-00-000 |
Variants Supported
| Variant | Supported |
|---|---|
| AKD Base | Yes |
| AKD with Position Indexer | Yes |
| AKD EtherCAT | Yes |
| AKD CANopen | Yes |
| AKD BASIC | Yes |
| AKD SynqNet | Yes* |
| AKD EtherNet/IP | Yes |
| AKD PROFINET | Yes |
| AKD Sercos® III | Yes |
| AKD-N | Yes |
| AKD-C | No |
*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.
Fieldbus Information
If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type.
| Index/Subindex | Object Start Version |
|---|---|
|
35C5h/0 |
M_01-00-00-000 |
| Fieldbus | Address | Attributes | Signed? |
|---|---|---|---|
|
PROFINET |
2287 | DWord | No |
| Sercos® III | 8 Octets |
| Instance | Data Size | Data Type |
|---|---|---|
| 288 | 8 Byte | Position |
| Register Address | Is 64 bit? | Attributes | Signed? | Object Start Version |
|---|---|---|---|---|
|
574 |
Yes | 64 bit | No | M_01-03-00-000 |
Related Topics
