gantry.comp example

Hello LinuxCNC gantry machines users

I have a strange master-slave setup that introduces a delay between master slave motion of 10ms.
The current setup is:

LinuxCNC>5I25>7i77 Analog out>Master MR-J2S Analog IN speed control >Master MR-J2S Enc OUT>7i77 Encoder In

>Slave MR-J2S Position control Input

My Master Amplifier MR-J2S encoder pulse output signal is used as feedback for LinuxCNC and position control for the Slave driver.
I do feed rotational encoder pules to 7i77 to close the loop with 25000pulses per rev.
With 5um resolution linear scales I was not able to feed enough pules to obtain a reasonable error.


So with halsope and linear scales on both Y master and y slave unit I found a startup delay between master and slave axis of around 10ms.
I noticed on the 2.7.4 gantry.comp module.
Can we have an example or a manual?

Thank You,
Razvan