If you do use a P1k with servo and want to be able to dynamically select a position from an HMI input then your only option is modbus with the servo in position mode. You would have to communicate the number of revolutions and partial counts of a revolution into one of the position commands and then execute that command.

If you were to use digital IO, you can pre-set something like 6 or 8 positions in the servo drive and then select a move to those positions with your digital inputs, however you cannot change where those pre-set positions are without either manually entering the data by hand on the drive unit or communicating new data for a position via modbus.

P2k with a high speed output card is much easier to configure and do a move on, as you can handle all of it in the productivity program. Simply assign your target position to a floatingpoint32 tag, and then write any value you want to that from your HMI. As long as you actually did your hardware set up properly it will all work easily.

It could be done either method though.

I use the P2000 with up 6 servos, four of them SureServos. I run the servos in position mode as described by PouchesInc. I really only use 2 - 3 positions for each servo. I use MODBUS communication to each servo for controlling each move. Read the SureServo manual carefully for the MODBUS addressing of each parameter (especially P2-30). Also read the Productivity help file on using MODBUS read and write communication boxes. It really is not difficult to get working. I even eliminated almost all the I/O wiring as the inputs and outputs to the servo drive can be virtual. I keep the Servo Enable and the external fault input hardwired for safety reasons.

Also, determine how you are going to zero the drive positions. I run the servos in torque mode and run the actuator up against a hard stop. The PLC requires a user acknowledgement and the system zeros. I am not an expert in motion control or even PLC programming, but with a little reading and testing, I got it all working and have very little issues. One glitch I did discover is the MODBUS interlocking to prevent communication conflicts. This is outlined in some sample projects (I cannot remember where on this site). Got that straightened out and no issues since.

thanks for your replays i got a 2000 playing with it in between my other projects got a question one of my

servos setups i have a press with a geared servo and want to adjust the speed at precisely at certain spots but without stopping the press just adjust the speed with a S curve accelerate and decelerate to allow the press slow down load apart then speed up top full speed to feed par and still be able to stop the press at a precise spot when running in single part mode and no stop in auto mode

thanks