text: <s>[INST] Using MRP instruction over a Master axis followed for slave using MAG with Master Reference command Hi everyone, Right now there is a system with a Virtual Master Axis defined in meters, it is moved using MAJ. This master is guiding a winder defined in meters using a MAG with a fix gear value and the winder is guiding a spindle defined in degrees moved by MAG with Master reference Command and ratio variating according to the diameter of accumulated material in the spindle. This MAG is continuosly updated using a XIO condition of the MAG EN bit just before the MAG instruction. What I'm trying to do is use a MRP instruction to update the winder position to 0 when a splice has ocurred and it's starting the wind in a new shaft. I want to know if doing this I can cause any instruction fault on the current MAG with Master reference command or what other consideration should I have into account?. Thanks in advance [/INST] Hello Nelson Can I rephase what you are doing to make sure that I got it correct? You have a Winder that is geared to a virtual Master with a fixed ration. On this winder you have geared a spindel with a variable ration. And you would like to do a MRP on the Winder at a specific event. If the above is correct, this is possible without generating any MAG instruction fault on the Winder or Spindel. All axis stays geared with the same ration. you can run the MRP absolute or relative mode on the Actual or command position. That will only affect the Position counter of winder not his motion. What could be affected is if some equipment's are dependent of the position of the Winder. but apparently in you case it is not. I hope that help. regards \\n </s>