text: <s>[INST] Kinetix 5300 Communication I have two Kinetix 5300 drives in a new machine. Connecting to a 1769-L36ERM compactlogix processor version 33. I set the software up as we have in the past for the 350 drives. Both drives have configured IP addresses in the in the range of the processor. On startup the drives show up in my controller organizer as having no problems. They never come off the 00 state on the drives. If I unplug the Ethernet cable to the drives and re-insert. The drives go through their startup sequence and reach 04 state. I can start and run the drives without errors. I have replaced the 100 foot Ethernet cable out to the drives. I have replaced that cable also with a Cat 5e cable that checks out with our blackbox cable tester. I have moved the connection from the system Ethernet switch directly to a port on the processor. I have pulled the 24V supply to the drives until the system starts up, and applied power. The only thing that makes the drives come online is pulling the Ethernet cable and re-inserting. I have two powerflex 523's on the line that have no problem attaching at startup. What am I missing? [/INST] Don't have a good answer as to why you're seeing this phenomenon, but you could try programatically disabling the drives in the IO tree and then re-enabling them. It would do the same thing as unplugging the cable. It sounds like there is some sort of boot process foot race and the 5300s consistently fail the race. Programatically disabling / reenabling fixes the problem (though it doesn't solve it). The snippet below shows how to do this: You use value 4 to disable, value 0 to enable. I made constant tags to help others read the logic. Instance name is the name of the drive in the IO tree (not the axis name in the motion group). We use this sort of logic to allow the motion group to initialize on boot when a drive is missing / failed. All drives must be in place and communicating with the processor at time of PLC boot; if one is missing the motion group never initializes. The logic above allows an a drive to be programatically disabled which then permits the motion group to initialize and run. \\n </s>