text: <s>[INST] Following 842E-M Encoder with Kinetix 350 Summary: Question on setting up 842E-M as a Virtual Master I am using a 842E-M on a piece of equipment. I have a machine that follows this position. Best case scenario I would use the CIP Ethernet encoder, but there is about a four to six week lead time right now for those. I would just set that as the Master axis is my MAPC and go from there. So for now I am using a regular Absolute Ethernet Encoder. I recieve all my values with no issue. I am guessing I need to use a Virtual Master to imitate the encoder position. I am using the example from the TechNotes on how the setup a Virtual Master using two MAM's for a HSC card with an encoder. Should I do the same here? I am trying it, but the error on it is pretty large. I am open for all suggestions, because I have been beat down by this problem for a few days now. [/INST] Generally, one connects a master encoder through the auxiliary encoder input of a servo axis. At this point in time, it must be a SERVO axis; while PF755 drives support a number of simultaneous encoder inputs, none of them can be used as an auxiliary to be master. The K350 does not have an auxiliary encoder input, so you're stuck using the HSC card as you described. Can you give some more detail about the error? There should be no error on the virtual axis at all? Or do you mean the difference between your encoder input, and the virtual axis? Did you set the values identical to the example in the tech note? I see that (in the V16 example) the check box for master delay compensation is set. Getting the Ethernet/IP encoder is the best route for what you desire; either that or switch the K350 to a K6500; though I'm guessing that isn't going to fly because you probably used the K350 for reasons of cost. \\n </s>