Need Suggestions for Equilibrium Balancing Mechanism with CSP and CST Motors

[prasaanthLvk]

I am great fan of this community and it would be really great if some could suggest of how to proceed

I have 2 motors coupled with each other

Motor 1 --> in CSP mode
Motor 2 --> in CST mode

when motor 1 is running in CSP mode some amount of torque will be generated which will be received in MOTOR 2 in CST mode and should balance it out.

This is the torque generated in CSP

and the CST should be able to keep it in zero torque by assisting it along with CSP mode.

I have tried PID nut it was a huge failure if someone can help me out here it would be helpful as this is my first work with ethercat ans SOEM has helped me a lot to reach this point.

[ArthurKetels]

First, this has actually nothing to do with SOEM. Second, you give way to little information to give any sensible answer.

Please formulate a question that is understandable and can be answered given the constraints. Begin with better explaining what you actually have constructed (both mechanically and software wise). What are the precise goals you have set? Could you simplify the problem space?