You bet, I'll certainly try...the current plan is to use a six-axis robot to weld a very large bulldozer weldment. We are going to have two weld stations, each with a HSTS that needs to be powered by their own external axis (servo). The robot itself will be mounted on a pivot boom to switch between the two weld stations. Similar to how you can do on a FANUC, we'd like to use Cubic-S to monitor position and speed (safety in general) for the axes that are running both HSTS units as well as the pivot boom. The issue we are running into is that the reach required for the application means we need a bigger robot which uses so much power on the E32 controller that there isn't enough left for that controller to power the large servos needed for the HSTS and pivot boom. As such we would need to use an individual multi-axis controller for ONLY those three axes. Unfortunately, what I'm hearing is that while we can use Cubic-S on the regular robot controller, Cubic-S apparently cannot be used on a separate multi-axis (non-robot) controller. I'm not sure why it can't, and quite frankly I'm questioning that which is why I'm posting here. This leaves us in a position where Cubic-S can be used to monitor the robot itself, but not the external axes that we will have in the system. I'm trying to make sure that is in fact the case, and/or if there is a workaround for this whereby I can still use Cubic-S instead of setting up a whole separate safety PLC and such for those three additional axes. Does that make better sense?