text: <s>[INST] Motion Instructions I'm working on a project in which I trigger motion commands based on the encoder value of a master encoder. I've successfully done this using K6000 drives and ver 18 of RSL5k. I used a MAW to catch the encoder value and trigger motion. Now i'm using ver. 20 and K6500 drives. The new axis setup saves some math scaling encoder counts, etc, but now the MAW instruction doesn't catch the scaled value and trigger. Is there a way to access the raw encoder counts of a encoder (aux input) and use the scaled values? Or should I use something other than a MAW watch to trigger motion? Any help or direction is appreciated. [/INST] I'd been taught MAW is used when you don't know exactly when the trigger input will occur, such as a registration mark on a web used to make registration position corrections. Since you're basing your operation off the master encoder, and it comes in as a motion axis, the MAOC instruction might make much more sense. The output from this instruction can be set for whatever position you desire on the master encoder, and you can cause outputs for a number of positions. Another name for this function is Programmable Limit Switch (PLS in the vernacular). MAOC is nice because once you issue the command, you do not have to keep on re-arming it the way MAW must be. It's fire-and-forget. You can adjust the position that causes the output to fire without having to reissue the command as well. I've used both commands, both can be tricky and finicky. Are you sure your MAW arming logic is sound? I've run into problems with my initiating logic in the past trying to arm an MAW that was already armed. \\n </s>