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Akd 2G torque mode

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Hi I'm using the akd 2g servo drive to move an axis, I need to move the axis setting a torque setpoint, I've already downloaded the xml file for twincat 2 ethercat, and I understand that I need to use the as pdo outputs the 0x1702 and 0x1722 for axis 1 and axis 2, and as pdo inputs 0xb02 and 0xb22 ,now need to now how to set the pdos to allow the axis to move in torque mode and give it a torque setpoint? An how to stop it? 
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I will email you details.

Best Regards,

Todd Evans

L2 Support

Kollmorgen

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