text: <s>[INST] Master/Slave Axis on CIP Motion PF755 Drive Summary: Slave-Master Using CIP Motion on PowerFlex 755 Drive.Hello Everyone, Simply: Is there a way to see the raw encoder counts coming into the PowerFlex 755 drive with a Dual Encoder Card? The only thing I see when the drive & axis have been setup is the scaled Actual Position. I'm working on a project in my office as a proof of concept. (I've listed the hardware and software which I'm using at the bottom of the post). I want to create a Master-Slave system where I can move the master encoder to an angle from 0 to 90 degrees with my hand. The slave motor will follow the motion from 0 to 90 degrees. I am confident in how to program the PLC system to make this work once I can access the raw counts from the Dual Encoder Card. I've attached a One-Note drawing showing a general look at the system. Hardware: Guard Logix 5580 Controller (1756-L82ES). PowerFlex 755 AC Drive with Embedded Ethernet/IP & Safe Speed Card (20G11NB2P2JA0NNNNN). Dual Encoder Card DENC-1. Universal Feedback Card UFB-1. 3 Phase AC Motor. Push Button Switch. Software: Studio 5000 Logix Designer Version 31. RSLinx Classic Version 3.51.00 or Later. [/INST] Unless I've missed something new in V31/V32 Logix, you cannot do what you've diagrammed. Even though all the hardware is there, Rockwell does not permit the master axis to come in through a PF755 port. I've wanted to do what you've diagrammed for several different projects. Only Kinetix drives permit the master axis to come in through a drive (K6500, K6200, K5700, and the old K2000). You CAN do this if you do not use CIP Motion. PF755 has the ability to do electronic gearing without a motion processor. As soon as you go CIP motion, you cannot. Sounds like a Catch-22, doesn't it? If you want CIP motion and a master encoder, you'd have to use one of these: https://ab.rockwellautomation.com/Motion-Control/Integrated-Motion-on-EtherNet-IP-Absolute-Encoder They are NOT inexpensive, and I'm not at all sure they're worth the cost. We've done a number of applications with PF755 drives controlled as standard drives executing electronic gearing using the 16 Datalink pairs and some MSG instructions. It's not quite as elegant as CIP motion instructions, but it works. \\n </s>