The key here is going to be the amplifier you are using to drive your motor. There are mainly three variations of servo amplifiers our there, namely position amplifiers, velocity amplifiers and current amplifiers. However, the forst two types are just specializations of the thrid one. Most amplifiers these days have the capability of being configured for torque mode either by switches or software. What kind of amplifier do you have? If you can send us the specifications as well as the model, I would be able to give you detailed instructions on how to set up your system.
