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
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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 |
| Variant | Supported |
|---|---|
| MKD EtherCAT | Yes |
| AKD-N | Yes |
| MKD-N | Yes |
| MKD-C | No |
| Index/Subindex | Object Start Version |
|---|---|
|
35C5h/0 60F4h/0 |
M_01-00-00-000 |
Related Topics
