Go to Parker.com
  • Sign in
Technologies
  • Aerospace
  • Climate Control
  • Electromechanical Group
  • Filtration
  • Fluid and Gas Handling
  • Hydraulics
  • IoT
  • Pneumatics
  • Process Control
  • Sealing and Shielding
Blogs Forums Knowledge Bases
Parker Community
Parker Community
  • Technologies
    • Aerospace
    • Climate Control
    • Electromechanical Group
    • Filtration
    • Fluid and Gas Handling
    • Hydraulics
    • IoT
    • Pneumatics
    • Process Control
    • Sealing and Shielding
    Blogs Forums Knowledge Bases
  • User
  • Site
  • Search
  • User
Home Technologies Electromechanical Group Electromechanical - Industrial Electromechanical Industrial Knowledge Base How to read the absolute position from EPL drive?
Electromechanical - Industrial
  • Technologies
  • Electromechanical Group
  • Electromechanical - Industrial
  • More
  • Cancel
Electromechanical - Industrial
Electromechanical Industrial Knowledge Base How to read the absolute position from EPL drive?
  • Electromechanical – Industrial Support Forum
  • Electromechanical Industrial Knowledge Base
  • Members
  • Sub Groups
  • More
  • Cancel
  • New
Electromechanical - Industrial requires membership for participation - click to join
  • Electromechanical Knowledge Base & Frequently Asked Questions
  • -Motion and Machine Controllers
    • -ACR Controllers
      • +7000
      • +ACROBasic Programming (IPA/7000/9000)
      • -9000 (Legacy)
        • ACR9000 Family Letter of Volatility
        • ACR Gantry Lock and EPL Axes
        • ACR Homing Success/Failure Flags
        • ACR Order Code
        • ACR Servo Tuner - Move Back & Forth sample code
        • ACR-View 6 is frozen. How do I recover?
        • ACR-View Memory Dimensioning using the Oscilloscope
        • ACR9000 to ModuFlex connection pinout
        • Automating the EPL startup procedure
        • Can I use tools from ACR-View in my own PC application?
        • Compax3 and Aries Ethernet PowerLink I/O
        • Configuring Memory for ACR9000 Com Channels
        • Dual Loop with Analog Position Feedback
        • EPL Drive Enable Status
        • Free Online Training Videos: Parker ACR9000 programmable motion controller
        • Having problems connecting with USB - ACR View 6.0
        • How do I add PBOOT to PLC programs?
        • How much memory does my ACR controller have?
        • How to Wire Limit Sensors to ACR9xxx and ACR7000 Controller
        • How to Read Compax3 Analog I/O with EPL SDO read?
        • How to connect ACR to PIO CANopen buscoupler?
        • How to disable RS232 autobaud for ACR9xxx
        • How to get status values from an Aries EPL Drive
        • How to read the absolute position from EPL drive?
        • How to select user units and axis scaling
        • INTCAP and MSEEK with Compax3 EPL
        • MSEEK EthernetPowerlink Compatibility
        • Memory Allocation for PLC programs
        • Output Reaction to EPL Failure
        • Remap CAN I/O for use with PLC
        • What is needed with various Parker I/Os?
        • What verison of the .Net Framework is needed for ACR-View 6?
        • Whats the difference between PIO-337 and PIO-347?
        • Where does ACR-View install the ComACRserver?
        • Why is controller reporting Program Stuck
        • 9000: Connector Part Numbers
        • ACR 9000 replacement: New ACR7000 series controller
        • ACR 9xx0 Recovering from Estop / Motion Enable input
        • ACR-View: Mapping a parameter to an oscilloscope channel
        • ACR9000 - CIP Communications stop on all devices when one CIP device goes offline
        • ACR9000 Ethernet Stream Connection Status Sample
        • ACR9000 Event Counters
        • ACR9000 Sample Input/Output Wiring
        • Are Parker IO modules available as NPN?
        • Connecting a Parker IO (PIO) to an ACR9000
        • EPL Velocity p38145 vs p8193 Master Velocity
        • Ethernet Communication Streams
        • Ethernet/IP Encoders
        • How do I set up Parker I/O (PIO)
        • How to command a home operation from HMI or PC app
        • Master Encoder for C3 EPL & ACR9040 system
        • Maximum USB Cable Length
        • Replacing the ACR9000 Battery
        • RS232 Electrical Noise on older 9000 Controllers
        • Senary Axis Flags
        • Updated EPL Network Flags and Parameters
        • Upload Absolute Position from a C3 to a ACR9000
      • +IEC PLC (9600) (Legacy)
      • +PC Card Controllers (Discontinued)
    • +PAC120
    • +PAC340
    • +PAC320 (Discontinued)
    • +6K (Discontinued)
  • +General Technology Information
  • +Virtual Engineer
  • +Visualization and Human Machine Interface (HMI)
  • +Servo Drives and Servo Drive/Controllers
  • +Stepper Drives and Stepper Drive/Controller
  • +AC/DC Industrial Drives
  • +Gearheads
  • +Servo Motors
  • +Step Motors
  • +Linear and Rotary Positioners
  • +Electric Cylinders
  • +T-Slot Aluminum Framing
  • +C3 + Xpress + ETH
  • How can I stay updated on Parker electromechanical and drives product news?
  • +Legacy (Discontinued)
  • +Other
  • Memorandum: Information on EPA ban of Persistent bioaccumulative toxin (PBT)

You are currently reviewing an older revision of this page.

  • History View current version

How to read the absolute position from EPL drive?

The ACR9030/9040 has the ability of having absolute feedback with Ethernet Powerlink (EPL) drives.

After EPLC ON upon initial power up, the ACR9030/9040 will query the EPL drive's absolute encoder position and will assign that as the axis's "EPLD Position" and "Actual Position" parameters.

The ACR90x0 will also allow you to use the AXIS RES command to override the absolute position information and set the position to anything that we desire. This may be required if the motor is at "machine zero" yet reads something other than zero. We can issue the "AXISn RES", where "n" is the axis number, to set this position to the zero position. We can alternately issue "AXISn RES m", where "n" is the axis number, to set this position to the "m" unit position.


If you want to remove this offset and reset the axis to the absolute feedback device's position, you will have to disable the axis and issue the "EPLD RES" command.

Example: The proper method for Axis 0 (a.k.a. "X", which uses EPLD0 as its position feedback device) would be as follows:

DRIVE OFF X
RES X : REM zero out all position counters, this is optional
EPLD0 RES
DRIVE ON X

It is important that you disable the drive before issuing the EPLD RES command. Failure to do so will inject a potentially large position error and possibly damage equipment.

Follow Us
  • Follow Parker Hannifin on social media

Follow Parker Hannifin on social media:

Parker Hannifin Parker Hannifin

  • Products
  • About Parker
  • Investors
  • Community
  • Careers

Global Operations Global Operations

  • Divisions
  • Sales Companies
  • Worldwide Locations
  • Distribution Network
  • ParkerStore™ Network

Company Information Company Information

  • Newsroom
  • Event Calendar
  • Working with Parker
  • Product Brands
  • History

Global Support Center Global Support Center

  • Support
  • CAD
  • Where to Buy
  • Contact Parker
  • Manage Online Orders
© Parker Hannifin Corp 2023
  • Site Map
  • Safety
  • Privacy Policies
  • Terms and Conditions
  • Community Terms of Use
ENGINEERING YOUR SUCCESS.