text: <s>[INST] Absolute position incorrect after program upload/download We have a couple ControlLogix Sercos control systems where we lose the exact mechanical positioning on an axis that uses an absolute encoder. We notice this happens when we download a project to the PLC. We don’t know if it happens every time, but if does happen sometimes. In most cases we have uploaded the project, went offline, made changes to the ladder and / or tag structure, and then downloaded to the PLC and put back in run mode. The machine will operate just fine, but the axis with the absolute encoder will be off slightly mechanically. We then have to use a teach plate and do a passive home with the RSLogix5000 motion direct command (of course all other non-absolute encoder axis’s always need to be homed on a power off/download). We have not noticed that this issue ever happens on power down, just on a PLC upload and download. I assume that if we didn’t upload the project and then downloaded the project, the absolute encoder axis would be off …. correct? Any ideas or things to look for? [/INST] In the Homing tab of the Axis setup you need to have Absolute selected if you want the position to be saved. Then set the sequence to immediate. \\n </s>