text: <s>[INST] Kinetix 5700 single turn encoder Summary: how to retain single turn encoder value after power cycleHow to retain Encoder value of single turn encoders to simulate as Absolute Position Encoder at power cycle event in Kinetix5700 drives? What is the tag for single turn encoder value feedback on kinetix5700 drive? [/INST] There is axis.ActualPosition; this element is going to be in user units defined by your scaling in the axis properties page and will be type REAL. In the axis properties page, Drive Parameters branch, Parameters to be read each cycle, there is a PositionFeedback1 entry. If you check that box, it gets added to the axis tag elements. This element is type DINT. This is not what you need though. You have a servo motor with incremental encoder attached to a K5700 drive. You have to set up scaling in the axis properties page. The Logix processor running this axis is going to work in user units, so axis.ActualPosition is all that you need. In the axis properties page, HOMING branch, set homing mode to active and immediate. Position doesn't matter so leave it at 0; you're going to overwrite the position. Motion will not occur when you issue an MAH with this configuration. use a MOV command to store axis.ActualPosition in tag LASTPOSITION, with logic that allows this MOV only after a startup routine has completed. This instruction should scan every PLC scan. On first scan, clear the bit that says startup routine has completed so that you do not lose LASTPOSITION. Have your startup routine issue an MAH. The axis.axishomedstatus bit gets set. When the MAH.PC bit goes true, issue an MRP with position LASTPOSITION. When the MRP.PC bit goes true, you can now set your startup routine complete bit so that the MOV instruction above begins storing the position again in anticipation of the next power cycle. The axis position is what it was at the final scan before the power cycle. \\n </s>