text: <s>[INST] Kinetix load balancing I have an application with a dual kinetix 5700 drive and two linear actuators rotating a single lift table. It is about 15 feet tall and weighs a lot but I don't have the actual weight. The actuators both push on lever arms under a pivot point to rotate the table up. I need to ensure the actuators are always in time with each other. I have them setup with a virtual axis that they both follow with a MAG instruction. This should make them very close but I don't have a great feeling that they will never get in a bind and drive against each other. Is there any way to setup a load balancing system where the drive torque is monitored and I can retard the one with the most torque to make them stay in sync? [/INST] I don't think you want to mess with drive torque.... I'd stick with position loop. Servos are trying to hit position targets. By using a virtual axis, both servos are getting the same position target as the same time If the system is sized properly for the load, then torque should not be a problem and each servo will hit it's position target. If it a servo doesn't hit it's position target, then you could get a position following error. You decide how much following error you want to allow, but you could use that to error to stop motion. or make a correction. BTW.. if you don't have enough torque to hit the position target, then maybe the mechanism is bad. Often a linear actuator is the input to a 4-bar linkage which produces non-linear motion (based upon linear input speed). Since you have a servo, you can create CAM for the 4-bar linkage input, that will result in smooth, linear movement of the mechanism at the output (load).. \\n </s>