text: <s>[INST] Phasing Multiple Axes I have an application where Axis1 (Rotary 0-360 degrees) is spinning at a high speed and Axis2 (Rotary 0 -360 degrees) matches speed and gears to Axis1 at a 1:1 ratio. I need to find the phase between these to axes with high precision. It appears that the MGSP instruction would allow this but I cannot find any information on how this instruction works (tech support I have contacted doesnt seem to have much info either). Does it simply capture the axis positions on coarse update rate or is there something smarter happening? Or are there other methods of finding this information? [/INST] Hi Rudolph, I ran into similar issues and my solution is using the InterpolationTime. See the example.Subtract these two axis positions and you have the phase shift.p.s. DINT_CurrentTime is Datatype DINT[2] success,CeeYa \\n </s>