text: <s>[INST] Coordinating 2 axes, MCLM, MAG, MAM & MAJ I need to be able to move 2 axes simultaneously with a defined relationship between them (the axes are at right angles, and the angle of the trajectory with respect to 1 of the axes is defined). To do a move of a predetermined distance it seems my best bet is to use a MCLM instruction (although I guess I could use MAG and MAM to gear the axes together and then move one of them). To allow the operator to jog the axes I think my only option is to use MAG and MAJ? Having geared the axes together using a MAG do I then just execute a MAJ on one of the axes and the other will automatically follow it? Presumably the .ER bit on the MAJ instruction tag will only be set if there is an error on the master axis? Does a Motion Axis Stop (MAS) 'disconnect' the 2 axes so that they can move independently? If not then what does? A bit later... I guess another option is to create a virtual axis and gear the 2 real axes to that. I wonder what the pros & cons are of the different approaches? Mike [/INST] If you define a coordinate system, axis 2 does not automatically follow axis 1 in a jog. The two axis are only going to be together when you execute the MCLM or MCCM instructions. For operator jogging the two axis together will require the MAG. Having geared the axes together using a MAG do I then just execute a MAJ on one of the axes and the other will automatically follow it? The MAJ is executed for the master and then the slave will follow at the gear ratio. If you MAJ the slave, it moves by itself. Presumably the .ER bit on the MAJ instruction tag will only be set if there is an error on the master axis? The .ER bit simply means that there was an error in the MAJ instruction. It does not indicate that there was a physical error with either of the axis, unless either axis has a particular error and that causes the instruction to fault. Does a Motion Axis Stop (MAS) 'disconnect' the 2 axes so that they can move independently? If not then what does? The MAS can 'disconnect' the gearing if the Stop Type is set to ALL or GEAR. If the Stop Type is just set to Jog for the master then they both stop, but both will move again for the next motion command on the Master. I guess another option is to create a virtual axis and gear the 2 real axes to that. I wonder what the pros & cons are of the different approaches? There is really no big difference in using the virtual to control the other two axis unless your automatic mode is for a coordinate system and the manual operator jog is for just jogging the two axis in a gear mode. That might make your programming more organized, but doesn't effect the timing or accuracy of the moves. \\n </s>