text: <s>[INST] Using a 842-CM-MIP3BA Encoder to perform a follow Summary: Sample code req to create follow with encoder.Hello All Hopefully somebody out there has already performed this and may have some sample code. I am using a 842E-CM-MIP3BA Encoder to Follow a press. The encoder drives a motor that is installed in an off line m/c(( the motor is controlled from a 2198-H040ERS2 Drive)& the motion is controlled from a 1769-L18ERM-BB1B CONTROLLER)). I have Studio 5000 ver32.(I,m new to this so still learning) All I simply want to do is drive the motor from the encoder and if required change the motor direction and follow ratio. Any help would be appreciated guys. [/INST] Congratulations - you correctly selected a CIP motion Ethernet/IP encoder. It's very easy to NOT get it and you would not be able to take advantage of it in CIP motion. The encoder will be a CIP motion axis and you can issue a few commands to it, such as MAH and MRP. MAH only works if the homing tab of the axis is configured to be immediate. The axis can then be used as a master axis for camming or electronic gearing. In your case, it looks like MAG (motion axis gear) would work well. While it's a somewhat simple application, CIP motion is not all that simple. There's a lot to motion, more than can really be answered in a few forum posts. If you have a good local Rockwell representative or good Rockwell distributor, they should be able to spend an hour to help get you started. \\n </s>