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Tuning Master/Slave Configurations
===Tuning Master/Slave Configurations===
Master/Slave [ Configurations] allow two (or more) motors to drive the same axis.  Slaves are configured to follow a Master Axis.  For example two lead screws on both sides of a gantry.
Tuning slaved axes is kind of a catch 22.  In order to tune one axis the other axis must be tuned well enough to follow and vice versa.  If possible, disconnect any mechanical linkage between the Master and Slave and test them separately without Slaving the Axes together to verify each axis Servos (can hold a position), moves at least somewhat properly, and moves in the same direction (assuming a positive [ Slave Gain] will be used).
It is usually possible to incrementally tune each axis, at first moving slowly, then later at higher speeds, accelerations, and gains.  Only the Master Axis can be tested with the [ Step Response Screen].  This is because the Slave will follow any movement of the Master, but the Master will not follow movement of the Slave.  So if the Master Axis is moved all is well as both axes will move together, but if you try to move the Slave axis the two axes will fight.  The Master fighting to stay where it is, and the Slave fighting to move.
To test/tune the Slave axis temporarily reverse the Master/Slave roles to make it the Master and then test it as the Master.
Note: only the Master Axis should be included into the Coordinated Motion System.