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Thanks for the feedback guys, lots of good ideas. I spoke to higly regarded integrator in Sydney today about the project with a print out of this page. Beers for everyone if I can come up with something (Logistical nightmare).

I work for a drive manufacturer and a crane manufacturer has asked me to investigate anti-sway control mainly for gantry cranes working in the steel industry. The problem is the the variables that come into play when trying to even contemplate where to start on programming for trials. The axis...

My input would've been the pwm frequency avenue that has obviously been investigated, have you had an oil check done on the gearbox? Does the gearbox have a name plate with rated torque writen on it? How does this compare with required torque? Is there a service factor issue? Sounds like the...

Perfect situation is to have an encoder on each motor, preferably a linear encoder that will not be effected by slip. Have the inverters controlling the sync between the two in a master/slave type relationship by elaluating speed via position (pulses from home). Otherwise just use one controller...