text: <s>[INST] Controlling Backlash with two motors I was wondering if someone has experience in driving two motors in anti-backlash with the Allen-Bradley servo drives? The mechanism rotator has two sets of motor-gearbox drive assemblies to eliminate the anti-backlash, when the mechanism is driven under computer (Controllogix CPU) control the two motors are torque-biased against each other to remove backlash while a differential torque signal is used to produce the required movement. My idea is to use 2 servo drives Kinetix 2000 (in position and velocity loop) and a contrologix CPU. I just looking for help or ideas o any experience in this configuration setup, using the Allen-Bradley PLC and drives See an example of Kollmorgen Drives: http://www.motiontech.com.au/assets/pdf/Kollmorgen%20Rack%20Drive%20Panel%20Controlling%20Backlash%20with%20the%20Servostar%20600%20210812.pdf [/INST] nan \\n </s>