text: <s>[INST] Commanding absolute MAMs doesnt work as would seem obvious after torque limited MAJs Here's the scoop: I have a rotary servo axis configured as a velocity servo using a Kinetix 6000 drive. I can home it properly to a limit switch, tell it to go to various absolute posiitons, and all is well. I am using this axis to wind material off a roll and am doing some torque limited jogging. Once I get done with this jogging, I am having problems understanding why the axis will no longer move to absolulte posiitons properly. If I tell it to go to 50 degrees absolute, it will move to a posiiton that is NOT at 50 degrees (I am looking at the <axis name>.actualposition field). Upon digging into the axis structure, I found a variable that I have never use before but I suspect is what I need to understand this problem, the <axis name>.commandposition variable. The .commandposition and the .actualposition are not the same. So basically I need to know how, after a torque limited jog, to get the axis back and happy with moving to the .absoluteposition of tha axis. Is this where the mysterious immediate home comes into play? Bill [/INST] This sounds strange indeed. Basically the command and actual positions should be the same apart from approximately 2 coarse servo updates of loop closure time.You may care to look at the position error too and note what this is (this should be the error in the command position - actual position). Does the drive not generate a following error by the fact that the drive is so far away from its commanded position? Just out of interest, what do you mean by torque limited jogging? Is this a straight MAJ with the torque limits turned down or something else? Can you replicate this behavior with a few rungs in a clean program operating on a virtual axis? Your issue is starting to sound like a new firmware problem? If you can replicate it in a clean program on a virtual axis, (or even on a single axis) the Rockwell guys can start to see whats going wrong. \\n </s>