text: <s>[INST] Couple Questions Regarding Kinetix VPL Motors and Virtual Axes Hello, I have a four axis system that consists of a four Kinetix VPL (1002AF) motors controlled by four 5500 drives interfaced with a ControlLogix system over an ethernet network, and we've run into a couple issues that I was hoping someone might have some experience with. First off, two of the motors control a mechanically connected single axis. Per previous discussions with Rockwell engineers, we have a virtual axis that we gear both of these axes to using MAG commands immediately after a successful MSO command. This works fine from a motion and control standpoint, but while the physical motors maintain their position after power cycling, we're constantly having to re-home them solely to match the position of the virtual axis to the physical axis position. In programmatic space, this is accomplished by using MAH commands to move the physical axes to their home position and then calling an MAH on the virtual axis. However, since the length of this axis is relatively long, we'd like to minimize the required number of times that we have to home the axes and would like to simply set the position of the virtual axis to the position of one of the slave axes on startup, i.e X1_axis.ActualPosition. As far as I know, the only way manually set the position of an axis, virtual or otherwise is via an MAH command, but that's with a set position in the axis properties. I was wondering if there was a way to set the position of a virtual axis to a known tag value without using an MAH. Second, we're also trying to monitor the axes for small interferences to stop motion when small impacts are detected without fully faulting the motors. While I know we can set the position error threshold lower in the axis configuration, I'd like to simply monitor either the axis force/current at a fairly high frequency in certain system configurations. Ideally, I'd like to monitor some specific element of the CIP_AXIS tag when a monitor_force bit is set, or similar, but I'm unsure of how best to implement this. Thanks, and hopefully these use cases make sense. [/INST] Bryan, The answer to your first question is to apply the MRP (Motion Redefine Position) instruction on the virtual axis. The answer to your second question is more difficult. What you describing is our Virtual Torque Sensor feature, but it is not available on the K5500 drive. Maybe you could try to create the feature in application code? Are you good at filtering? Please see https://literature.rockwellautomation.com/idc/groups/literature/documents/at/2198-at003_-en-p.pdf for more. Good luck, \\n </s>