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Is there a test I can perform to determine if I need to enable slack compensation?

How should the belts be tensioned to eliminate the need for slack compensation?

Thank you!

Check manuals, you can do this using a (really) square object such as paper sheet.
It's more the matter of the mechanics (angles ...) then tension in belts, as belts have tooths anyway to avoid sliding. Actually it's not best to have them very (!) tight, as then movement requires more force.

Regards,
Gregor