Changes made for Pathfinder 5226 controllers.

On first startup of the Indra Drive Cs the absolute encoder has no frame of reference to where it should say it's absolute position is which causes the drive to throw an error and not allow movement. To set the absolute position and get rid of the error the 5226 controller attempted to use the homing bit in the control word used in the Ethernet/IP communication. This turned out to be not what the drive is looking for. After some research it turned out that there is a parameter called Set Absolute Position Procedure Command. This is what the drive wants to see manipulated to set the absolute position.

The 5226 will now check the InReference bit of the status word at all times and if not set then the command will be sent to set the absolute position. The controller will then automatically clear the error and movement will be allowed at this time.