text: <s>[INST] Aux encoder with K5500 I need to add a linear encoder to a Kinetix 5500 axis, controlled by a 1769-L33ERM. The 5500 has no auxiliary feedback input so my plan is to use the 1769-HSC to input the encoder signal. I would like some suggestions on how to program the linear scale. One thought I had was to take the difference between the motor encoder and linear encoder positions and add that difference to a MAM instruction's command position. This seems like the least clever solution. Someone had suggested that I create a virtual axis and use the linear encoder as its feedback device, but I do not see a way to do this. If I could do this then this seems like a more elegant solution--I could use a MAG or MDAC to follow the virtual axis in that case. Any other ideas? Thanks! [/INST] I don't think you have many choices. K5500 drives are intended to be low-cost, so do not have all of the features that a K6500 has. One possibility might be to purchase the lowest-cost K350 drive and hook your encoder to that. You don't need a motor; the drive would act simply as a place to bring the linear encoder in as a CIP axis. Then your MAG or MDAC approach would work. Is too late to change to a K6500 drive? What is the data format of the linear encoder? \\n </s>