Sinamics S210 Torque control

Hi,

 I have an application that I need to control a limit torque in a servo motor with S210. My application is to capping bottles.

 First, I have a rotary cylinder with input bottles without a cap at 0 degrees and output at 270 degrees with a complete capping bottle. A vertical moving capper has a servo rotary head that screwing the cap on the bottle. This head I need to rotate for example with 400rpm with 1.75Nm in the right move and when it reaches the torque limit, for example, 2Nm I want to uncage the cap, etc.

  My question is if S210 it's the right drive for my application or I want S120, also I want the drive don't decrease (or don't decrease under a limit)  the velocity to control the torque because I want to be able to finish the capping before 270 degrees move of the central rotary cylinder move. For example, I set the velocity of the rotary cylinder and the velocity of the screwing head and check that the system it's ok, I want stability between these velocities with torque control in the screwing head. Generally, I want help with this application.

Thanks!

Thanks for your answer,

[snip]