Hi,

do you have a problem with the program or doesn't work it like you want?
Or which type of comments you need?

Regards
Christoph

Hi,

any error message during the execution?

which on is working and which one not?

Hello,

first the 30002 error.

This means that some command is interrupted from other command.

If i see your program then you runt this in the repeat loop avery cycle so that the commands from the actual cycle interrupt the one from the previous cycle.

To prevent this you can use a "running" variable which is set an used in the if statements.

the 50011 error.

This means that the master is in speed control mode and you use a postiioncontrolled gearing.

In this case is not possible to enbale the gear operation, the master must be moved in position controled so that the gearing can sync the master positions.

Regards

Christoph