text: <s>[INST] MDAC, MAG OR MAPC Summary: Length calculation with External encoderThe issue I have is the external encoder rides on the material that is driven by the servo drive. Another programmer closed the position loop and modified tuning parameters for the kinetix 7000 when using the external encoder and when using the motor encoder he moves a different set of tuning parameters into the drive. My customer doesn't want to have to change the encoder used when the material runs off of the external encoder. Since the encoder is driven by the material, and the material is driven by the servo, I am having a had time figuring out the best solution to use. Can I use a MAG, MAPC, or MDAC since the material isn't driven by a secondary source? Is there a better option than what is currently being done? [/INST] JC, I don't think you have a lot of options. Tying the external encoder to you servo axis (by either Load or Dual feedback modes) will have issues when the encoder runs off of the material. How do you detect when the material runs off now? Is it a run-to-length process or just measurement? This is the closest example to your application, however, what it describes can't be done on-the-fly. https://rockwellautomation.custhelp.com/app/answers/detail/a_id/550046 Jeremy \\n </s>