Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS - A104 Position Mode Without Position Lag (Following Error), Encoder 1; A105 Position Mode Without Lag, Encoder 2

12-46 Diagnostic Message Descriptions ECODRIVE03-FL*-04VRS
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
A104 Position mode without position lag (following error), encoder 1
The drive is in position control mode. Within the drive, the position
control loop is closed via a position encoder. The control system only sets
the position command value sequence; the drive complies with the
command value without a systematic lag (following error).
Encoder 1 indicates that the position encoder is installed on the motor
shaft (indirect measurement of the axis position).
A105 Position mode without lag, encoder 2
The drive is in position control mode. Within the drive, the position
control loop is closed via a position encoder. The control system only sets
the position command value sequence; the drive complies with the
command value without a systematic lag (following error).
Encoder 2 indicates that the position encoder is installed on the machine
axis (direct axis position measurement).