text: <s>[INST] Torque Mode Simple question I hope. I have a winder application that uses a k6000 servo drive with a MPL-A210V servo motor that will wind tape up into a small spool. I will be running the winder servo motor in the torqe mode to provide tension on the tape as it winds. The tape is being feed by another k6000 servo rollfeed mechanism with a MPL-A320H motor, it will be running the standard postion servo mode so I can measure how much tape is being wound into the winder. As I wind of course, both servos will be running at the same time. My question is, do I still use a MAM instruction with the torque mode winder servo? Of course I cannot use any MAG instructions between both servo motors because the winder will be changing speeds/torque as the roll of tape gets bigger. So this is more of a programming questions as I already have the servos set-up the way i want/need. Any feed back is greatly appreciated Darrrin www.epe-inc.com [/INST] you can use SSV instruction to set torqur offset after configuring the servo loop in torque mod \\n </s>