# mappMotion Axis Reset **URL:** \ **Category:** Mechatronics & Motion\ **Tags:** mapp-motion\ **Created:** [July 12, 2024, 12:28pm UTC](https://community.br-automation.com/t/mappmotion-axis-reset/3763 "2024-07-12T12:28:20Z")\ **Posts on this page:** 10\ **Page:** 1
**Author:** ![CanGENC](https://dub1.discourse-cdn.com/brcommunity/user_avatar/community.br-automation.com/cangenc/32/3136_2.png) [@CanGENC](https://community.br-automation.com/u/CanGENC)\ **Post date:** [July 12, 2024, 12:28pm UTC](https://community.br-automation.com/t/mappmotion-axis-reset/3763/1 "2024-07-12T12:28:20Z")
Hello everyone, I have created a system using the ACOPOS P3 servo drive. In the system I have built, one axis clamps the profile based on a fixed point. While doing this clamping, I use the limit load and limit load value parameters in mpAxisBasic (I increase the lag error value first to be able to clamp the profile using these parameters). I limit the torque of the axis to 1.2, then slowly approach the profile and clamp it. After the axis is clamped at a torque ratio of 1.2, I want to reset the axis, but the lag value does not reset itself. When I reset the axis and set the limit load variable to false, the lag remains, causing the movement to clamp the profile more than I want, resulting in a lag error. Is there a way to reset the lag value? Thank you in advance for your help. Best regards. ---
**Author:** ![michael.bertsch](https://dub1.discourse-cdn.com/brcommunity/user_avatar/community.br-automation.com/michael.bertsch/32/239_2.png) [@michael.bertsch](https://community.br-automation.com/u/michael.bertsch)\ **Post date:** [July 12, 2024, 1:38pm UTC](https://community.br-automation.com/t/mappmotion-axis-reset/3763/2 "2024-07-12T13:38:15Z")
There is no special Command to reset the LagError of the Position Controller. The only event which resets the LagError is the PowerOff/PowerOn for the Position Controller. If you want to clamp i would try to use “[MC\_BR\_TorqueControl](https://help.br-automation.com/#/de/4/motion%2Fmapp_motion%2Fprogrammierung%2Fbibliotheken%2Fcore%2Faxis%2Ffunktionsbausteine%2Fmc_br_torquecontrol%2Fmc_br_torquecontrol.html)”, it provides a Limiting, so if there is no Force the Axis will not accelerate to much and you can easily control the Force created and remove it afterwards in a controlled manner. Greetings Michael ---
**Author:** ![krausertm](https://dub1.discourse-cdn.com/brcommunity/user_avatar/community.br-automation.com/krausertm/32/98_2.png) [@krausertm](https://community.br-automation.com/u/krausertm)\ **Post date:** [July 12, 2024, 1:55pm UTC](https://community.br-automation.com/t/mappmotion-axis-reset/3763/3 "2024-07-12T13:55:41Z")
@michael.bertsch I think there is?! 93: CTRL Regler: Kommando ncS\_ACT\_TO\_S\_SET @CanGENC I used it once in a project where I raised the lag error to a very big value and limited the torque + when finished I reset everything including using this command! So quite similar to your use case. Best regards, Marcel ---
**Author:** ![ballazr](https://avatars.discourse-cdn.com/v4/letter/b/FF8800/32.png) [@ballazr](https://community.br-automation.com/u/ballazr)\ **Post date:** [July 12, 2024, 3:40pm UTC](https://community.br-automation.com/t/mappmotion-axis-reset/3763/4 "2024-07-12T15:40:48Z")
strange that no plc\_open FUB exists for this purpose… ---
**Author:** ![michael.bertsch](https://dub1.discourse-cdn.com/brcommunity/user_avatar/community.br-automation.com/michael.bertsch/32/239_2.png) [@michael.bertsch](https://community.br-automation.com/u/michael.bertsch)\ **Post date:** [July 12, 2024, 3:47pm UTC](https://community.br-automation.com/t/mappmotion-axis-reset/3763/5 "2024-07-12T15:47:55Z")
> [@krausertm](#): > > 93: CTRL Regler: Kommando > ncS\_ACT\_TO\_S\_SET Thanks for the information. Never heard of this in my many years. Nice to learn somethink new. 🙂 Greetings Michael ---
**Author:** ![CanGENC](https://dub1.discourse-cdn.com/brcommunity/user_avatar/community.br-automation.com/cangenc/32/3136_2.png) [@CanGENC](https://community.br-automation.com/u/CanGENC)\ **Post date:** [July 12, 2024, 4:24pm UTC](https://community.br-automation.com/t/mappmotion-axis-reset/3763/6 "2024-07-12T16:24:08Z")
Thank you very much Marcel. I will let you know my positive feedback when I go to the machine. Best Regards. Ümit Can Genç. ---
**Author:** ![krausertm](https://dub1.discourse-cdn.com/brcommunity/user_avatar/community.br-automation.com/krausertm/32/98_2.png) [@krausertm](https://community.br-automation.com/u/krausertm)\ **Post date:** [July 12, 2024, 4:33pm UTC](https://community.br-automation.com/t/mappmotion-axis-reset/3763/7 "2024-07-12T16:33:11Z")
Additional info: You cannot set this during a movement, so you’ll have to make sure the axis is in Standstill before executing! ---
**Author:** ![CanGENC](https://dub1.discourse-cdn.com/brcommunity/user_avatar/community.br-automation.com/cangenc/32/3136_2.png) [@CanGENC](https://community.br-automation.com/u/CanGENC)\ **Post date:** [July 17, 2024, 11:15am UTC](https://community.br-automation.com/t/mappmotion-axis-reset/3763/8 "2024-07-17T11:15:43Z")
![Screenshot 2024-07-17 141107](https://europe1.discourse-cdn.com/brcommunity/original/2X/a/a43a7b834c0c6a5de8f068a1ce86fb8fe0942002.png) ![image](https://europe1.discourse-cdn.com/brcommunity/original/2X/8/86e95dc27ee5af3343c775b92127868ab69e3b5c.png) Hi Marcel, While the axis is in mcAXIS\_STANDSTILL state, I send the value 1 to parID number 93 of the axis, but the lag error value does not change. What other uint value can I send instead of 1 or can you see any problems in the code? Best Regards Can Genç ---
**Author:** ![krausertm](https://dub1.discourse-cdn.com/brcommunity/user_avatar/community.br-automation.com/krausertm/32/98_2.png) [@krausertm](https://community.br-automation.com/u/krausertm)\ **Post date:** [July 17, 2024, 11:37am UTC](https://community.br-automation.com/t/mappmotion-axis-reset/3763/9 "2024-07-17T11:37:24Z")
You have to use the nc constant value: [Online-Help](https://help.br-automation.com/#/en/4/libraries%2Fncglobal%2Fdataconst%2Fncconstants.html) cc452381-13eb-419b-a676-f0a6fa09ba88 ![image](https://europe1.discourse-cdn.com/brcommunity/original/2X/f/fd3e14784f691fc64910a9f3a8a7be2793b15243.png) ---
**Author:** ![CanGENC](https://dub1.discourse-cdn.com/brcommunity/user_avatar/community.br-automation.com/cangenc/32/3136_2.png) [@CanGENC](https://community.br-automation.com/u/CanGENC)\ **Post date:** [July 17, 2024, 11:57am UTC](https://community.br-automation.com/t/mappmotion-axis-reset/3763/10 "2024-07-17T11:57:29Z")
Thank you very much for your help . This parameter works