[amesmich]

We have the same setup as you two lead screws with two seperate carriages each with their own motors and encoders. So binding is only an issue with the tote. We would like to keep it within 2 inches. We can tolerate more but within 2 is acceptable.

If you dont mind giving us an example we would greatly appreciate it. I could email you or PM you. Our programers understand the concept of PID but were not sure what values to put where. After some reading its becoming more clear, but we have never done it so not sure what we dont know.

Our main problem is that with no load at full speed one side is slightly faster. We want the PID to slow the faster since the slower woudl already be at 100%. So based on this I assume we woudl make our slower lift the "master" and slave the faster side to track the slower? I understand what your saying about the master side continuing even if the other side got stoped for some reason. I would assume you could code it so that if a max seperation value was exceeded you could stop the higher side.

Thanks for your response. This will be our project over the next few weeks.