text: <s>[INST] kinetix 6000 and external encoder Hello I have successfully started up my first Kinetix 6000 with external encoder. Machine works but there is one problem. External encoder is on the other side of the conveyor and if it is lifted up (material jam...) motor starts with motion. It looks like it’s trying to find correct position. It would be better if motor is disabled when position error is too high. What needs to be done? Thanks, Janko [/INST] Position error is an item that is watched for an axis. In the axis properties, on the Limits tab is the setting for the maximum Position Error Tolerance. This is set when the axis is auto tuned. Along with that, on the Fault Action tab, is the setting for what function will occur when this position error limit has been reached. Disable Drive is a choice for this item. You may want to check these settings. Also, you could do a GSV to watch the position error (has to be selected as one of the Real TIme Axis Information items on the Drive/Motor tab) and create your own actions when this value is larger then some other value. \\n </s>