text: <s>[INST] Kinetix 6000 in mode torque control.... How do I configure kinetix6000 to work in mode torque control with MPL-B320P-M? Thanks [/INST] Under the Drive tab, you can select Torque Mode instead of Position Loop. I'm drawing a blank on the exact names, but it's under that selection box. Just be careful that you protect for a possible overspeed condition since you are not controlling the velocity loop. \\n </s>