text: <s>[INST] PF700S postion controller with Stegmann encoders I have a pair of PF700S configured in a master-slave arrangement each with a Stegmann optional encoder. The slave drive has the position controller enabled where the master encoder is the setpoint and the slave encoder is the feedback. These absolute encoders have preset zeros and there is no way to change them by means of the drive. Unless both encoders are mechanically aligned, there will be an offset at the enabling of the position controller. When the drives are stopped both mechanical loads will be at the same position. This will cause unstable operation until these two drives zero out this error. Is there any approach I could use to zero out this error before enabling the position controller? Thus avoiding this unstable operation upon startup. [/INST] djr, Depending on your application this may be a non-issue, or a somewhat easy fix. Non-issue: The PF700S position regulator is, by default, not in absolute mode. (position regulator absolute mode is not necessarily the same as using an absolute position device). By default, when the drive is started or position regulator is enabled the position loop assumes where the feedback is, and where the reference is, is where it wants to be. From that point on the drive simply looks at changes in reference and feedback and acts accordingly. In other works, the drive by default zeros the position ref and feedback on start. Easy fix:If you are using Absolute mode (P740 b6 I believe) and you want to fix the offset simply calculate an offset that will negate the original offset and put it in P753 or P754 (Position Offset 1 and 2). \\n </s>