Control two motors in reverse direction

I have awooden plate move between two points (left/right)by two motors+drum+wire controlled by sinamics s120 

How can I program starter program to control the speed and torque of each motor to achieve the following

1- if one of the motor pull the wire to move the plate to right direction in certain speed and torque other motor loosen other wire in certain torque to keep the motion smooth and fixed depending on pulling speed and torque

I hope I can explain the issue

Thank you

Thank you very much for your response.

1-This mean slave drive p1501will changed to1

2-put torque set point in p1503

3-when master drive begin to pull wire and certain tension occurre in slave one it begins to rotate to keep the torque set point.

Is this Ok?

Dear sir,

If I use speed control how can keep certain tension in slave wire in slacking mode . please in detail

Thank you

If I use speed control  for slave and give him speed set point

And torque limit

1- it begins to pull wire until achieve the torque limit and stop.

Is this ok?

2-if the master begins to pull with full torque what is the behaviour of slave one?

Hi,

the picture in chapter 3.1.1 of the application example that TechnologyTeam linked to you explains the control mode very good (see my attachment).

In few words it works like that:

The master works in speed control and gives it speed setpoint to the slave. At the slave side an overcontrol factor (additional speed) is added to the masters' speed -> so the slave wants to go "faster" than the master. But the drive is not allowed to go faster because the necessary torque to speed up is limited by the torque limits.

Of course quite a lot of parameters need to be adjusted for such an operation at the SINAMICS S120. So I am not sure if we really can explain step by step how to configure your drive in detail here in the forum. So if you are not really used to the S120 I would recommend to get in touch with your local Siemens contact partner and ask for commissioning help.