text: <s>[INST] Setting Home position on an absolute encoder Summary: I don't see where to choose absoluteHello all, I have a MPL-B320P-MJ74AA connected to a Kinetix 350 drive 2097-V34PR5-LM. I need to be able to set the absolute encoder to 0 at the home position. I've read in other posts to go to the Homing tab, but there is no tab under the properties dialog for the Kinetix. There is a homing branch listed on the left hand side of the box but I can't choose Absolute under the Mode drop down, only Active or Passive. Any ideas? My system has 88 taught positions, and if I lose 0 its a lot of work to recover! [/INST] Randy, the homing tab is to define what happens when you issue a homing instruction MAH. One way to do what you're trying to do is, when you know the axis is at its home position, issue an MRP command, position 0. \\n </s>