text: <s>[INST] PF 700 Encoder Access On a PF 700, can the encoder count be accessed by ControlLogix through Ethernet? If so, what would be the most efficient way. I won't be using this information for precision positioning or anything, but as a way to roughly track the distance traveled on a chain. [/INST] I think a way is to use Datalinks, linking an Output Datalink to the parameter you need (i.e. Par. 414, Enc Position Fdbk).If you have RS5000 v16 or above you may easily setup this in the I/O configuration for your drive connected over Ethernet/IP; then you have your data available in the Controller Tags. (see attached screenshots)Have a look to the User Manual for 20-COMM-E and also the Aid 44844 (it is for Devicenet, but Datalink are the same also in Ethernet) in order to correctly configure your Datalinks. Hope this helps... - fuzzy logic \\n </s>