PL.ERR

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 BASIC: Integer
See Also	PL.FB
Start Version	M_01-00-00-000

FieldbusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design	Index/Subindex	Object Start Version
EtherCAT***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs COE and CANopen	/0 /0	M_01-00-00-000

FieldbusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design

Index/Subindex

Object Start Version

EtherCAT***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs COE and CANopen

M_01-00-00-000