text: <s>[INST] MAM Registration correction Summary: Incremental Move to Absolute Move with Registration markI have an application that is indexing paper 5.5 to a punch. I am using a incremental move to index, then reading a registration mark which triggers an event which sets a position value for an absolute move. When the move gets to within 2 of the target position I am changing dynamics to slow the velocity. I am seeing some overshoot and motion reversal in the application. Tuning adjustments do not appear to improve the overshoot. My question is, when running an incremental move and then switching to a registration move, does the incremental move command go inactive when the absolute move type is commanded, or does it still try to complete and then add the absolute move to it at the end of its process? [/INST] In your case, the absolute move effectively cancels the incremental move. I'm not sure where the overshoot is coming from, but check the MCD and absolute MAM decels to make sure it can hit the position without overshoot. Another option is to use a second incremental move at the 2 point instead of the absolute move. The second incremental MAM would have the lower speed, and its position would be the delta you need for registration adjustment. You wouldn't even need the MCD at that point. When the second MAM is an absolute, the motion planner has to ignore the incremental MAM since it now has somewhere specific to go. When the second MAM is also an incremental, the motion planner adds the remaining distance from the first MAM to the incremental distance from the second MAM, as well as, using the second MAM's settings for speed, accel, decel, etc. \\n </s>