A welding system for welding with wire is disclosed that includes a torque motor in a wire feeder and a pull motor in a welding torch. A wire feed speed may be set by an operator at a power supply or on a wire feeder. Based upon calibration of the pull motor in the torch, upon startup of the welding operation, signals are provided to a pull motor and the torch in an open loop manner with respect to the speed of the pull motor, while the torque motor is driven to maintain a feed force on the welding wire to ensure that the pull motor has welding wire available for feeding. No other coordination is required between the torque motor and the pull motor.