In general, when you perform an Auto-Configure procedure, modules will configure in ZPA mode. If one sensor is connected (either Left or Right) and two motors are connected, the module is automatically configured as a single logical zone and will run both motors at the same time. The side (Left or Right) that the sensor is connected will automatically configure that side’s motor as the master and the other motor is the slave. The master motor’s PI regulation and PWM output is applied to the “slave” motor.