text: <s>[INST] Servo motor moves without any order Hi everybody! I introduce me, I'm Camilo from Argentina, and first of all, sorry my english, it's awful, I know! Ok, I'm working in a depalletizer of bottles, what uses 11 servo motors AB, with Kinetix 6000 controllers. The plc is a ControlLogix 5561. The problem is that, after do the homing of a particular servo, it moves without any order at a really high speed. There is no instruction in the program in that moment who ask the servo to move. Well, I changed the homing mode, originally it was in torque mode, and now is in torque-marker mode. After do this (about one month ago), the problem didn't reappear. But yesterday, unexpectedly appears again. It really makes me nuts! Somebody might know what is the problem? Thanks in advance! [/INST] Your English is better than many who use it as their first language. No worries. Homing to a torque level - do you have any sort of speed limit set? The motor is going to run at its full speed looking for a load so it can build up to the torque value you set. If your axis is always in torque mode, that may be what's happening. While there is no overt motion command (JOG, or MAM, for instance), if it's on and has a torque command, it will speed up looking for that torque. The fact that your homing mode change fixed the problem temporarily points to two things - either something changed in software timing, or something changed physically on your machine. Can you share the ACD file here so we can take a look? \\n </s>