text: <s>[INST] Unespected Movement of Kinetix 6000 Hi, I'm new on Kinetix 6000 Systems I have a Kinetix 6000 with Controllogix PLC. When there is a energy shut down (Power lost) and it come on, there is and unespected movement of Kinetix 6000 servo. It seems that Kinetix take and save last instruction and when power come on it execute last instruction. When unespected movement occurs the controllogix PLC is on restarting process Do you know what may be the problem? Thanks [/INST] I can't see the logic you're running but it sounds like the code in your controller is set to act when the drive is ready to go. So when the drive powers up and gets the ready signal, the code is immediately acting on that information. It is best to program servos using a state machine so you can directly control how the code moves through its different phases. I've had many issues come up when I forgot that a piece of reset logic or run logic was triggered of a no-faults bit that I had set. \\n </s>