text: <s>[INST] using a single servo for multiple functions I have a servo that operates a module on a machine and this module is not always used on all products. if the module (but not the servo) was removed when not in use and potentially an alternate module fitted, would it be possible to have 2 sets of parameters for the same servo? Could i load a different set depending on the product that has been selected to run enabling me to use the same servo/drive (assuming it was the correct size)? Would it be possible use two axis tags (one for each module) that would write into the selected axis tag structure upon product selection? Or would I need to make the 2 modules virtual axis that would gear to the physical axis depending upon product selection? It would be good to know any thoughts on this topic Thanks Andy [/INST] Hello Andy, So if I understand you would like to change the Axis parameters of your servo , to adapt to a different mechanical set that change depending of the production batch that you are doing... correct? If it's what you would like to do, yes it is possible , you have different options by using GSV/SSV instructions and in some cases MSG for the different parameters that you need to change , like Scaling, Tuning, inertia...etc You must do it axis disable. There is other solutions but they are mostly based on the same principal. You could also Inhibit and Un-inhibit axes... I guess you could find some info on RAKB Using the 2 virtual axis that you gear alternatively to the physical , can be a solution, if the mechanism have the same specificity , so you will not have to retune your axis (unless you have Load observer and Tracking notch to compensate if you are still in the BW of those features). Regards \\n </s>