text: <s>[INST] Load Sharing/Torque Slave Summary: Two Motors, One Load on KinetixHello, I'm getting questions from our mechanical engineers about implementing a dual motor setup for a single load(an indexing conveyor). What is the best method to pull this off? Is it even worth it, or should I be telling the engineers to find a way to implement a single larger motor? I did some searching around the knowledgebase and found plenty of documentation on doing this with Powerflex 755 drives, but nothing for Kinetix. Currently, the best I've got is to set them up normally and use either 1:1 electronic gearing, a 1:1 position cam, or matching time cams. From there, I'd have to tune the velocity droop function and write some extra code to keep them from fighting eachother, especially when stopping. The other idea was to use a FBD routine to apply(subtract) a torque trim of -Torque Command/2 to the Master, which would be in position control mode, and apply a torque trim of +Torque Command/2 to the Slave in torque control mode, using the master's torque command. The idea is to turn on both servos, command only the master to move, use a torque trim to cut it's commanded torque in half, and apply that same value to the slave. I've got a feeling this won't actually work very well, but who knows. The goal would be to pull this off with a 5069 CompactLogix and Kinetix 5500 drives, but I could change those if required. [/INST] I've done this with 755 drives, pretty much as you've described. It was rather easy with the 755s. It is not nearly so easy with K5500s I think; for whatever reason Rockwell doesn't think that people want to use servo drives in torque mode. 5500 drives don't get THAT large so your application must not need too much power. Wouldn't it be simpler with a single large motor / drive set? If your mechanical engineers want to put a motor at the nose roller and the tail rotor, would 1:1 electronic gearing be that poor a solution? I'm making an assumption that you can tune the motors well, but it might work. I wish I had some test hardware; it would be interesting to run some worst-case scenarios. \\n </s>