If you want to change the Actual position to a new value, e.g. to move the Home position, also the Requested position and some internal counter registers have to be changed or synchronized as well.

This is also useful when changing modes, e.g. from Velocity to Position mode. Here is how to do it:

(1) First make sure the motor is at a standstill (so Actual and Requested position don’t change while performing the sync), e.g.:

(2A) In MAC 050…141 you use lines like the following — using the value for Sync Position that you want (as shown 0 or Actual position — or another value):

(2B) In MAC 400…800 you use lines like the following — using the value for Sync Position that you want (as shown 0 or Actual position — or another value):

(Control bits:

Manual Resync = Bit 10 ON in MAC 050..141

                          Bit  6 ON in MAC 400-800).