kinetix 2000

hey guys,

i recently started using the kinetix 2000 servo drive and am having difficulty establishing a registration offset. the servo is rotating a wheel that i need to stop at a certain spot each time. i am using a prox switch to see the registration mark. can anyone help?

i got the drive to pic up the registration mark and it does do the offset distance but i need it to home each time. the servo drifts after the first few times that it sees the registration. need help with the programming, ive tried numerous things but cant get it. i used the kinetix 300 on a previous design and it was fairly simple. i just had to use 2000 due to me needing multiple axises. please help

Version and plc interface please

rslogix5000 version 19
L43 compact logix