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Hoisting with 2 motors on the same shaft. How do to solve the problem of torque unbalancing What kind of parameters can be adjusted ?

Issue:
 
Hoisting with 2 motors on the same shaft. How do to solve the problem of torque unbalancing  What kind of parameters can be adjusted ?
Product Line:
 ATV66 Drives

Environment:
Hoisting Applications

Cause:
Hoisting with 2 motors on the same shaft.
How to solve the problem of torque unbalancing ?
What are some parameters that  can be adjusted ?
 
Resolution:
ATV66F with encoders on the same shaft.
For safety and reliability reasons we use an encoder on each motor.

In this case we would suggest a test with the torque control function to realize a master/slave in torque.
But we can't guaranty the success it's too dependent on the mechanic configuration.
Our experience shows that generally, the best way on this kind of application, is a differential gearbox on the common shaft which solve the speed/torque unbalancing problem.
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