text: <s>[INST] Kinetix 5700 axis and finding an object I have an application I'll be receiving where we will be using a Kinetix 5700 drive system to control stack crowders for a blank destacking application. My issue is we don't have good control over the stack location. I was wondering if there was a way for the Kinetix drive to find the stack location and perform its location based off its learned location. I'm envisioning that when the stack is loaded, the crowders would advance with low torque toward the stack. When the drive senses a jump in current, it would record the location and base its crowding operation off that location. I'm not a drives person, but is this something that may be possible? [/INST] Hello Scott What you try to do should be possible, this will require some code in your Logix controller, and can be challenging . You also could use the VTS to do this (virtual Torque Sensor) There is also a very common way to locate the position of an item that is unknown, it's the registration sensor. You can connect to the drive an accurate sensor that will detect the presence of the item, and take a picture (registration) of the actual position of your axis. since you know the relative position of your sensor (HW location) and the position of your axis when the item trigger the sensor you know now the position of your item relative to the actual axis location. So you can control move your axis to an accurate position relative to your item. this require some code in Logix aswell. If you are not familiar with Logix and Motion control , I strongly recommend you to get in contact with your local Rockwell Automation representative and request some onsite technical assistance, you will same time and money regards \\n </s>