text: <s>[INST] Motion Instructions Help - Tracking Summary: Need some help with tracking a moving belt I have an bottle diverter application where a servo axis diverts bottles to a new lane based on count. In its previous versions we read the speed of the conveyor under the servo axis. This conveyor was typically driven by a Powerflex drive. We took the actual frequency of the drive, converted it to Inches/second, then at the proper bottle count we executed a MAM instruction to the servo. Worked fairly well, but trying to improve the system. We are now using K6500 servos so there is a lot more capability. The system will also have an 842E-CM encoder as a master feedback axis from the conveyor. I have not done a lot of (any) motion that is cammed or geared. So I am looking for the simplest way to slave my diverter servos to the master feedback encoder. The diverter has a maximum stroke or around 30, so my previous application asked for a MAM to a position of 30, at a speed matching the belt. Accel and decel units were for the most part arbitrary. It looks like I could use a MDAC instruction in conjunction with my original MAM instructions, and set the speed of the MAM to be 1, with speed units being Units per MasterUnit ? Would this be the simplest approach ? The end result I am looking for is that for the 30 inches that the diverter is tracking the conveyor it would be completely locked to the conveyor. IF conveyor slowed down or stopped the diverter slave axis would also slow down or stop. Upon restart it should continue the motion until it finishes it. Thanks for any input. [/INST] nan \\n </s>