text: <s>[INST] Powerflex40P with Encoder, Just want Speed Control.... I have an application that uses a PF40P with an Encoder. I want to simply set the speed and am not doing any positioning. I'm guessing that I need to set the unit for PID control with the encoder as the PID feedback. Are there any User Guide that define the steps/basics behind this without reading the entire manual??? Thanks [/INST] You can read the first part of Appendix F in the PF40P user manual to help you setup the encoder for speed feedback. \\n </s>