text: <s>[INST] Powerflex 40p - AtPos bit Does anyone know, when the pf40p:I.CommFreqCnt_or_AtPos is exactly set or reset, when working in positioning mode?This is because of timing issues. We issue a new start command, but it takes time that the 'old' AtPos bit is reset. What is the best programming practice to overcome this? At this moment we use messaging to read the actual position out of the drive and compare it with the setpoint to be sure it is at position, but this costs expensive time... [/INST] Parameter P225 sets the number of encoder pulses tolerance for the AtPos bit. One Practice that I use is using the AtPos bit to stop the drive. Then I interrupt that stop signal with the next start signal. When the AtPos tolerance is set tight this seems to work well for me. \\n </s>