text: <s>[INST] K7000 Aux Feedback I have an application feeding coiled steel, there is slippage. Can the Aux Feedback be used for position control (encoder driven by the steel)and still have velocity control of the axis (no runaway) if the encoder is disconnected from the steel. I tried most of the alternate servo loops and half caused drive errors while the other half ran away if the encoder was disconected. OR is there a better way to control the feed to length using the Aux Feedback as Feedback Only? [/INST] Dual Position Servo is your best bet. I believe you have to monitor velocity error in order to trip on encoder loss. \\n </s>