text: <s>[INST] Roll Mill Launcher We have an application that was recently upgraded from an old 1394 multi axis servo to K6K. Two of these axis where geared together during a launching cycle to feed a sheet into a Roll mill. With the 1394 you where able to enable both axis to gear then trigger a start but with K6k when the MAG for the first Axis to the Mill is turned on it start and then the Next MAG is enabled releasing the second axis. The MAG and located on the same rung. These Axis grip the sheet one from the leading edge the second on the trailing edge. You can see that if the trailing edge is Gear first then the sheet buckles. If the leading Axis is geared first it tries to pull out of the grippers. If the Trailing is geared to the Leading then the leading geared to the Mill the position error between the Axes pulls the sheet out of the grippers. The closes thing that we could get to work is to MAG the Leading Axis to the Mill then MAG the Trailing to the Mill. The Trailing uses a slightly different ratio. We still in some cycles have the Trailing edge bucle abit. What I was thinking is mybe somehow I can program the Trailing Axis to act like a caboose and not and engine. How would I do this. Torque Mode Maybe? The system now is hard to push through the Gearbox when the Drive are disabled so the motor will have to provide some forward power just to over come the friction of the actuator and gear reduction. Current CycleFront Pincher at 140 inches (These are a reflection to the Belt drive not the Part)Back Pincher at 300 inches (These are a reflection to the Belt drive not the Part)Front & Back Pincher Grab PartMAG Front to MillMAG Back to MillFront Pincher Opens @ 80 inchesFront Pincher MAM @ 40 inches at current speed to 10 inchesBack Pincher Opens @ 100 inchesBack Pincher MAM @ 52 inches at current speed to 10 inchesBoth return to start point for next cycle. What I would like to try isFront Pincher at 140 inches (These are a reflection to the Belt drive not the Part)Back Pincher at 300 inches (These are a reflection to the Belt drive not the Part)Front & Back Pincher Grab PartMAG Front to Mill??? Back pincher to apply a dynamic break affect so the Front pincher pulls it alongFront Pincher Opens @ 80 inchesFront Pincher MAM @ 40 inches at current speed to 10 inchesBack Pincher Opens @ 100 inchesBack pincher stopsBoth return to start point for next cycle. [/INST] Something funny is going on here. There is a chance that the gearing could be applied as you have it two coarse updates apart (even though the instructions are in the same rung). However this would be random and it sounds like what you described happens every time. Look closely at your clutch settings on the gearing and checked to see if it is enabled that the accels are the same (or even better make the following axis have a higher clutch accel). I would have suggested what you've already tried and thats gearing the trailing to the leading and then the leading to the Mill, but you still have errors here too. This would definitely be the way to do it, waiting for the first gear to be established before gearing to the Mill. Ensure that you trailing motor is geared to the ComandPosition of the leading motor.There has to be something fundamentally wrong here, (clutch active and different accels, gearboxes differrent ratios when you think they are the same, slack or slipping couplings etc).Were all the gearboxes changed out to with the 1394? Are the motors / gearing identical for each roller and all conversion constants correct?Maybe you could upload your code and someone may take a look and see if they can replicate it with vrtual axis.Another thing to do is trend your axis positions and velocities and see if the feedback indicates that the two motors are apart or in sync. You can set a trend sample rate inside your coarse update rate to give best results here (e.g. if your coarse update rate is 4ms, sample every 3ms). \\n </s>