Siemens Rotary Servo In Torque Mode

JD
Also trace the torque and compare what the torque sensor shows and what the drive trace torque shows
I hope that makes sense

Just to close the loop on this I worked for hours on tuning the servos in yesterday. Played with the P and I until I was able to reduce the torque to an acceptable level. Siemens then supported me today while we did some runs and they agreed that the torque was within the motors capabilities. So the strategy that I have with the technology objects is sufficient without have to switch to a direct torque mode.

Thanks to all the members who jumped in on this.