Torque Mode in AB

Hi Guy's,

Can anyone tell me exactly how to switch from position mode to torque mode in AB, I'm using an Ultra 3000 with CompactLogix L43.

I have set Attribute 1 and 2 to position and torque feedback.

I've read about using servo loop configuration perhaps using the ssv block but I have no idea really how to implement this.

Any help or guidance would be much appreciated.

Thanks

I also like to know if it is possible to switch back and forth between position and torque mode on a AB Kinetix system?