text: <s>[INST] Dancer Control with Kinetix 6000 What would be the easiest way to control Dancer position in a web handling application using the Kinetix 6000. The Kinetix drive rotates an Unwind spindle. I have dancer position feedback to the Logix 5000 PLC. There is no feedforward signal ( Line Speed) so Pure PI control is what I am planning to use to correct the dancer position. Thank you [/INST] Would it be possible to put an encoder style dancer on there? You can use Dual Position Servo mode, then just set the position of the dancer that you want to maintain and the drive will automatically control the speed of the unwind to keep the dancer in the right position. If you can't do that you'll have to bring the analog in a PID instruction and use the output of the PID to control the speed of the kinetix drive. You could just operate the unit in Velocity Loop mode only. If it's a 0-10v pot style dancer you could also use an Ultra3000 and use the built in Analog Speed control input. \\n </s>