text: <s>[INST] Kinetix 5100, change speed depending of position and sensor We have the following: 1 micro820 PLC, 2 Kinetix 5100 drive with TLP servomotor, 1 sensor PNP NO The operation is as follows: Servomotor 1 and 2 are at constant speed. when they exceed a certain position servomotor 1 must decrease speed and servomotor 2 must increase speed, when stops detecting a sensor both return at a constant speed, once it detects the sensor again it resets its position, starts the cycle again. How could I do this routine in the Kinetix? it has to do 20 cycles in 1 second. Thanks. Alejandro VG [/INST] Hello Alejandro It looks like it's your 1st time with Kinetix 5100, correct ? What about Micro 820 ? If you have no experience with Kinetix 5100 using KNX5100C Software for programming I strongly recommand you to consider the following options: You can go to the Rockwell automation Knowledge Base Rockwell Automation Tech Support ... 24 x 7 around the globe! (custhelp.com) if it's your 1st time you will have to register. Then you have access to multiple article that can help you in your process. You can also request the assistance of a field service support to assist you and learn about the product. You can also request to your local Rockwell Automation representative an access to OnCourse . onCourse is a cloud-based demo and training platform. It provide you with access to immersive demo and training experiences using Rockwell Automation software and hardware. Now to answer your question on this platform it will be complicated, you need a training and this is not the right place for that. What I can tells you is that you can do all what you are looking for, so no issues. look at the differents options that I have provided you, those are your best options for a fast and efficient resolution of your demand. I hope that help you Regards \\n </s>