Servo controller doubt

Hi experts,

I have more of a conceptual doubt. When defining links and movements, I’m not sure as for when to create a new servo controller and when to use a previously defined one. Can you give me some advice?

Thanks in advance.

As an example for better comprension of when to use different servo controllers we could work on this example:

I have a multiple belt conveyor (4 belts) with two pushers to center the component in the middle of the conveyor. Each belt has a motor and each pusher has its own piston for activation.

When would you say I should define a new servo controller?

I think if you need motions of axes to be synchronized (reach certain value at the same time) then they have to be driven by same servo controller behavior.

If the motions are completely independent then you could use different servo controllers.

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