text: <s>[INST] PF527 MAG Instruction without Encoders? Summary: Wonder if a PF527 without encoders can still use a MAG instructionAs the Title and Summary state. I'm looking to doing a velocity synchronization application between a Main Conveyor Motor and Take-up Conveyor Motor. I know the PF527 supports the MAG instruction, but does the drive need to have an encoder connected? I'm familiar with the use of servo instructions and Kinetix Drives, but this would be my first use of a PF527. I've looked for examples but couldn't find any. any help/direction is appreciated. Regards Vin [/INST] I've done simple MAJ instructions on a PF755 set up for vector control, open feedback. MAG, almost by definition, wants encoder feedback to synchronise the slave to the master. I think the results without it would be rather poor at best, if not flat out impossible to do. Are both motors on the same conveyor, one supporting the other? Or are they two different conveyors? If it's two motors on one conveyor belt, you could set the slave drive to be a torque-follower and not need feedback on it. \\n </s>