text: <s>[INST] Flying step change I use PowerFlex 700 drive in Pos/Spd Prof mode (Speed/Torque Mod P88). The used profil has 3 steps. First : Type: Encode abs.Second : Type: Encode abs.Third : Type : End Hold Pos. This is what I want to do : I command the first step and while it is running, then I command the second one on the fly. I expect the drive decel to the speed of the second step and the second step will finish. This is what I obtain. The first Step finishes and the motor stop before restarting with the second Step. Then the third Step takes place and the drive stop. I don’t want to have this positionning between the two steps. Note: I did it with step type EncIncBlend as fist step but it is not satisfied in my context. I must start always at position 0 to use this configuration. [/INST] nan \\n </s>