Attached is sample AcroBasic code for the ACR9000 or ACR7000 Controller to be able to retrieve the absolute encoder position from the drive:
The Pseries drive input (5th input and is pin16) needs to be configured as an ABS_RQ type.
This presumes standard ACR9000 to Pseries cable (71-032478-04 or 71-032478-10) is being used.
How's this work? This is because inputs 4 and 5 are jumpered together within that cable (see below).
Input 4 is used to reset the drive in case of a fault. Input 5 can be set as the ABS_RQ to retrieve the encoder position.