The answer is that the speed of the outer planet must be slower than the speed of the inner planet. A simple mathematical solution is as follows:
F(g) = F(c)
m(p)a(g) = m(p)a(c)
Gm(s) / r² = v(p)² / r
So v(p) = [Gm(s) / r]½
For the outer (o) and inner (i) planets, r(o) > r(i)
As r increases, v(p) decreases, so the outer planet (with a larger r) must have a v(p) that is smaller than the inner planet.