text: <s>[INST] Using a MAG instruction on a channel welder? Summary: How to make the motion on an infeed of a channel welder streamlined and smoothI’m trying to smooth out some motion on a channel welder and I think my next step is trying to use a MAG instruction instead of cycling a MAM instruction every time the gap between the part in front of it exceeds a preset value. My problem is im having trouble wrapping my head around how to go about doing it.. So the operator loads the part in the infeed, the infeed then needs to catch up to the part in the outfeed without hitting it, then stop at the first channel weld position. My thought would be to immediately gear (MAG) the infeed to the outfeed and then calculate the gap between the part in the infeed and the part in the outfeed and do an incremental move to close the gap, less a couple inches for clearance. Then the infeed would happily follow the outfeed smoothly while the part in the outfeed continued to finish up its channel welds. The infeed would then need to break off from the outfeed MAG instruction and come to a stop at the first channel weld position in one smooth motion. That’s the part I’m stuck on, ive never used the MAG instruction before and im not sure how to go about disabling the motion gear and then commanding an absolute move precisely at the point when the infeed would need to start decelerating to stop at the first channel weld position. How do you disable a motion gear instruction? From what ive seen so far, it looks like only a motion axis stop would do it. But my concern there is I need to immediately issue the absolute move to get it to stop exactly at the first channel weld position, so it might look “drunk” as its coming to a stop with some hesitation in there as the MAS starts and the MAM starts.. Am I thinking about this wrong? Is there a better/smoother way to do this? Ive attached the current logic, which just recycles a MAM instruction for reference, along with a video of what that motion looks like. [/INST] An MAS with stop type GEAR will end an MAG instruction. However, I think what you want is to issue the MAM with MERGE enabled. Having merge enabled will replace the MAG with the move that you want in order to stop in the desired position. \\n </s>