AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
6.25.2 PL.ERR
General Information
Type R/O Parameter
Description
Reads the position error present when the drive is controlling the position
loop.
Units counts,rad, deg, (custom units)
Range N/A
Default
Value
N/A
Data Type Float
See Also PL.FB
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CAN-
open
35C5h/0
60F4h/0
M_01-00-00-000
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 574 Yes 64 bit No M_01-03-00-000
AKD BASIC Information
Data Type Integer
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 com-
manded 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 this fault would have occurred,
a position error interrupt is generated instead.
Related Topics
PL.ERRFTHRESH | PL.ERRMODE | PL.ERRWTHRESH
383 Kollmorgenâ„¢ | March 30, 2012
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