The drives I’m observing this behavior on are CTB. I haven’t tried with Yaskawa yet.
They do zero their reported encoder position on a (drive-based) home operation.
I don’t know if they have their own internal offset that they keep or not. (They probably do, but I have to connect with a serial/programming interface to see it.)
I’ll look at the PDOs for position the next time I see this behavior.
Thanks, Scott.