text: <s>[INST] Which motion instructions to use? Hi I have two servo axes (2 conveyors one after the other), master and slave in a linear movement. The slave must follow the master, but at a precise moment it stops to load products, after this it restarts and must catch up with a higher speed the position it should have if it had not had stop (like catching the lost train). The slave continuously repeats this movement and the master never stops and can have variable speed. Which motion instructions to use? [/INST] You're asking for a simple answer to a complex scenario. You might use MAG with some MAMs. You might use an MAPC if the stop point is consistent and repeatable. The truth of the matter is, you probably need a systems integrator to develop your application. \\n </s>