text: <s>[INST] Kinetix 5100, disconnect encoder without fault Hello, I would like to know if it is possible, by ethernet ip, to disable the kinetix 5100 drive, it is to be able to disconnect the encoder (through an ATI tool changer), so that, while it is energized, to be able to make the change, and it does not cause an non-recoverable fault, since the way I know to reset the non-recoverable fault is to power cycle or reset the module, and it takes a long time. Another question, if the tool changer is used constantly, while the drive is energized, can it cause damage? Thanks a lot. [/INST] Alejandro I cannot find any documentation to suggest the encoder is RIUP (Removeable or Insertion while Under Power). This can be interpreted as the encoder connection was not designed/tested nor supported for RIUP. If the Kinetix is power but the CIP axis is disabled (open loop), I believe it is still reading the encoder position and it would register an encoder fault. https://rockwellautomation.custhelp.com/app/answers/answer_view/a_id/1090640 data-linkindex=0>Kinetix 5100 Servo Drive E011 Encoder Error Troubleshooting \\n </s>