Develop C++ Application for 2 Motor Servo Motion Control

SEE ATTACHED PDF. We're looking at building a motion control system that has a trolley on a slider and two servo motor powered winches (one on either end of the slider). The trolley will be connected to both of the cables that come from the winches, so the position of the trolley can be moved. The two motors will communicate with each other through an ethernet based network (ie: Ethercat or similar). There will be a PC based ground station with a joystick, that will be used to home the system, control movements, etc. One motor should always be in torque mode and the other always in position mode. At static, the torque motor will make sure the winch cables are tensioned and the position motor will hold the position of the trolley. When a position command is inputed by the joystick, the position motor will overcome the torque motor and will pull or release the cable. The torque motor will also spin to maintain a constant torque (just enough to keep the line tensioned). Right now we’re shopping around for AC servos, drives and a control system for this project. From my preliminary numbers, we need a 4.5kW, AC servo and a suitable servo driver. The servo drives need to be able to be connected via a CAT5 connection. I also need the motors to have power-off brakes, so if power is cut the tension in the line is still maintained. It would help if the person we select can offer hardware recommendations for this project We're looking for someone to program a windows based motion control application that: -homes the motors on startup (trolley goes to one end of the slider, then to the other, so it knows the travel length of the slider). -takes the inputs from a usb joystick which is controlled by the user. The larger the joystick input, the faster the trolley should move on the slider -Allows the user to see the live diagnostics of both motors -Allows the user to "Disable" the system, which would stop movements and apply the power off brakes -Allows the user to set predetermined positions in the app, that when clicked will move the trolley to that position on the slider -Has an emergency shut off system that creates a max allowable torque in the motors -Emergency shut off of both motors if there is an error or weird condition (ie: torque drops too low, gets too high, etc.) The app will just be a single page GUI that can be developed using something like the RapidCode API. We are open to suggestions for what servos, drivers and APIs to use for the software development.