Dear collegues,

I have to synchronize the position of two S210 with CPU1515F (No T), these are left and right servos to move clamps from position 0 to 1 every cycle (easy task).

I have some questions because it's my first time with S210:

1. I saw two examples, First one uses TO_positioningAxis for leader and TO_synchronizingAxis for follower, but in the other one, there is a TO_positioningAxis as virtual leader and 2 To_synchronizingAxis for both S21 as follower. What or when I must uses each configuration?

2. I must synchronize by positioning but mc_gearin synchronizes by velocity, so, I think it's possible to get a small positioning error, and to fix I was thinking in uses mc_moveAbsolute to correct the error. It's correct that "solution"?

3. There is some special to know about S210 and synchronization?

Thanks in advance!!!!

 Ad. 1 I'm not sure if you can select sync on an axis setpoint , if so then no difference. Otherwise use second method.

Ad. 2 Sync is sync, positions relationship is fixed once in sync. Instead of guessing refer to the manual.