text: <s>[INST] Changing Axis From Position to Torque Mode I'm working on an application that requires the axis to be configured initally as position then changed by the controller program to torque mode. The system is compact logix with Ultra 3000 Sercos. Thanks [/INST] Try to see if Aid 42101 and Aid 44359 could help... Take also a look to the User Manual, App. C for all the Axis Attributes. - fuzzy logic \\n </s>