text: <s>[INST] Dual Position is now working but I have a few issue to sort out Can you help with options? 1. When there is not sheet in the straightener the servo goes into a run-away because the motor is trying to close the position error but the encoder is not moving because there is no sheet.Solution 1:install sensor at encoder and MSF the axis when no sheet is present. This would work but would adversely affect next issue. Or maybe only MSF the axis if the axis is Dual Position Servo. then Apply Solution 2.Solution 2:Install sensor at encoder and SSV the Axis to Position servo when no sheet is present. Then re-MSO then axis. 2. When loading a new sheet both the run-away issue is present and the issue that I can not Jog the sheet into the straightener with out Position error. I have about 24 Inches between the pull roler and Encoder.Solution 1:When In Manual or before a Jog command SSV the axis to Position Servo. GSV to be sure the axis is Position servo then execute the Jog Command. Above Sensor would place the Axis into Position Servo. [/INST] Well.. that's a difficult application. First, Switching axis modes from a dual mode to a single mode is restricted according to the K6K firmware release notes (under restrictions). I wouldn't depend on that method working unless you plan on cycling power to the drive to reset the drive configuration every time you switch modes. I would imagine this is unacceptable wait time. I'll admit that I haven't done this before but I'm going to suggest it. Change the servo loop configuration over to Dual Command/Feedback Servo. When the material runs out Zero the Proportional & Integral gain and change the position error to status only (if used). The Dual command should allow the system to still run velocity mode. The thing that I don't know is if the Sercos Card or Motion planner will try to close the position loop from one of the upper control levels. Because the Position gain and Integral gain are zero the only command that the motor reacts to is the Velocity command. If the velocity is zero than the motor should stay stationary. This should still let you jog the motor and move the material. Once the material is feed back into the system the position can be redefined to 0 (select actual-- not command) or some other value that zeros out the position error. You may have to MSF and MSO to reset the position error, I don't know for sure. Re-enable the proportional gain and integral gain and operate the equipment. I won't guarantee this will work but in theory it should. I don't have the hardware to test this either. I'll Take credit if it does work though. :smileywink: \\n </s>