Hello, I'm having a bit of trouble tuning a Galil motion controller.

I have two servos driving hard metal wheels, one supporting each side of a large pipe. If I only run one servo at a time, the wheel slips and the pipe doesn't move (naturally the other servo is freewheeling at this time, it's just hard to backturn the gearbox being used.)

Wheel 1 is axis B, wheel 2 is axis C. Each servomotor + gearbox + wheel assembly is identical, so I managed to tune one assembly with the other's gearbox disconnected (and ensuring no slip on the driving wheel). I am using these tuning parameters as a baseline for both axes, which are geared together electronically like so:

[code]GM ,,1
GA ,,CB
GR ,,1[/code]

In this setup the system can turn the pipe on the rollers but the servos seem to "fight" each other, i.e. there are a lot of high frequency corrections to the output to each servo. I would rather have a few counts following error (I have a pretty high-resolution simulated encoder output available, 16-bit I believe) than have it fight like this and create buzzing in each motor. I have also tried "GA,,B" instead of "GA,,CB" but this just causes the motors to fight one another when they are stopped (applying equal and opposite torques on the pipe).

Thanks!

PS: Would putting the encoder feedback from 'B' on 'C' as a auxiliary encoder input help anything?