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.