text: <s>[INST] Camming I have a PowerFlex DC Drive that I need a Kinetix 6000 Drive and/or motor to cam off of. PowerFlex DC can't be set up as axis so best approach please. [/INST] Your question implies that your DC motor has an encoder. If so, you're in luck but not the way you think. If it's an incremental encoder, I recommend using an encoder splitter (Motrona makes a very nice one). You MIGHT be able to simply parallel the encoder signals without the splitter - it may or may not work. Splitter guarantees it. Split the DC motor's encoder signal, send one to the PF DC drive as normal and bring the other to the aux feedback port on the Kinetix 6000 axis. You can then configure the aux feedback to be a feedback-only axis and let it be the master axis for your camming. You cannnot issue actual motion commands to this master axis, but you can issue passive MAH, MRP commands, and it CAN be the lead axis for camming. You would issue drive commands to the PF DC drive (Run forward, Run reverse, etc). The DC drive is not a motion axis, but the net result means it is the leader. Does this make sense? I can try to explain a different way if needed. But \\n </s>