text: <s>[INST] Using merge function in MAJ and MAM instructions. As I understand it: When enabling merge in a MAM instruction, any other previously acting command is stopped. i.e. if the axis was jogging, the jog is stopped and the position command executed. If Merge is disabled, the position (incremental) happens on top of the jog. i.e. the axis carries on at position speed plus jog speed. In my case I need it enabled because I want to calculate the final position after the incremental move so stopping the previous jog is what I want, but I also need it to continue jogging as it was before when the position has finished and to decelerate to the (slower) jog speed smoothly without going to zero speed. With enable on and i jogging, when the MAM is issued the speed smoothly accelerates to the (faster) positioning speed, but when the position finishes it comes to a complete stop, I then have to re issue the jog to make it go again at its original speed. This gives a dip in the speed where it goes to zero speed before accelerating up to the jog speed. So my question is, is there a way to have it work like merge enable but to not stop but pause the previous command until the position has finished then continue it. Thanks for any help. Keith. [/INST] Hmmm. Interesting problem. The first thing that comes to mind is, what happens if you issue MAM on top of JOG with merge disabled, but with MAM speed set to zero? Merge disabled means MAM and JOG are superpositioned, but if MAM has zero speed, you continue at the speed you did before but technically should get the MAM .PC bit when you reach the set distance. If I understand the scenario, you're jogging at one speed, want to do a move at a different, defined speed, then come back to the jog. If that is the case, then you DO want to disable the merge, but set the speed of the MAM to be the difference between the JOG speed and the desired positioning speed. For example - if the JOG is 10 units per second, and you want your positioning move speed to be 15 units per second, set the MAM speed to 5 (MAM speed 5 = desired positioning speed 15 - jog speed 10). \\n </s>