Hi Luca, if you would like to use S-0-0520, you need to change the main operation mode to "Position control with axis control word". This can be done in ctrlX IO Engineering. And in the AxisProfile you need to configure S-0-0386 instead of S-0-0051 to use as actual position. Now you should be able to use the Motion App and PLCopen to command the axis. Of course you need to set reference for each encoder before. Regards, Jörg
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