RSL5000 MATC time scaling change

I'm using a MATC (Motion Axis Time Cam) for a servo application.

If I change the Time Scaling value of the MATC instruction while the cam is currently executing (In Process), will the Time Scaling change take affect immediately(ie sudden dynamic changes will occur) or will it take affect the next time I execute the MATC?

I'm thinking it will not take affect until the next execution, but I can't find documentation to tell me that for certain.

This, from the V20 RSL5K help page, implies the change may take effect upon execution while the cam action is currently in process.

Important: The MATC instruction execution completes in a single scan, thus the Done (.DN) bit and the In Process (.IP) bit are set immediately. The In Process (.IP) bit remains set until the initiated Time Camming process is superseded by another MATC instruction, or terminated by a Motion Axis Stop command, Merge operation, or Servo Fault Action.

Click to expand...