text: <s>[INST] IS there a way to remove the torque and redefine position without disabling the servo? This is what I need to do: I have a MAM. I make a move, when the move is complete I need to remove the torque redefine the position, reenable the torque and be prepared to make another move. Currently the previous programmer uses a Motion Axis Stop, redefines and Motion axis on. and it takes 3ms. Is there a better faster way that would take only 1ms? The toque can not be removed without disabling it. Is there a way to remove the torque and redifine position without disabling the servo? [/INST] I don't think disable the drive to issue MRP. Can you eliminate those steps and just issue MRP when the axis has stopped moving? However, MRP does take some time (more than just one scan). Having it work in 3ms in the current configuration is impressive all on its own. \\n </s>