Controlling Two Micromaster 440 Drives


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On a machine which transfers baked pies by means of swiveling beds or carriages, two AC drives (Siemens micromaster 440 0.75 kW) work together to rotate the two carriages through 180 degrees, and simultaneously must maintain some pressure between the two carriages so that the pies are clamped but not crushed.

Presently each drive is set on the same speed reference, but juddering occurs with occasional trips when one carriage works harder than the other.

I thought of having the leading carriage with a speed reference and the following carriage set to torque control (not speed) so that it always maintains pressure against the leading carriage.

Is this feasible?
Another suggestions?