The Sea of Sequeam

When the pope talks, is he acting in a Magisterial way or not? And that's not just true Pope Francis. A lot of cases where he's just speaking off the cuff are not Magisterial. Those kind of things aren't within the scope of what we're talking about. But when it is Magisterial, then the question becomes: Is this something that is infallible? Are they trying to answer a question of faith in morals and do so in an infallible way?