text: <s>[INST] Unwind/Winder Application I have an application that currently has two unwinds, idlers and a winder. Basically, it is a machine that takes two unwind rolls and glues them together to wind them. I am looking at replacing the current air/disk brake control on the unwinds as well as the main drive. There are two load cells that control tension for each unwind and then the main drive runs as the winder. We were looking to replace this control scheme with Kinetix 6000 but I have never done a servo web handling application. Does anyone have any recommendations or concerns? I have dealt with unwind/winders with dc and ac drives but not servos. The customer wants servo control to keep things are pricise as they can get.. Any help would be appreciated.. Thanks, [/INST] Just a few thoughts, the servos have several different configurations that might help you. You can have the loop control position, speed, or torque. So for example you might control torque on the unwinds to provide resistance to the winder, which would be controlled by the load cell. Or you might run it in velocity mode and adjust the speed based on the cells. Another interesting option would be to run the axis in Dual Position Servo mode. You would use a small encoder on the load cell, assuming the arm moved radially like a dancer. This aux encoder would provide the position reference. So you set the move instruction to go to a specific dancer position, and the servo will automatically adjust the speed of the unwind accordingly. You'd basically be using the drive firmware to control the loop rather than something running manually. Many ways to tackle this. \\n </s>