National Instruments NI-Motion - Manual (Page 198)

Chapter 13 Torque Control
NI-Motion User Manual 13-8 ni.com
Monitoring Force
You can use this second force-feedback mode if you have a position sensor
on the motor, in addition to the torque sensor. The control loop on the
motion controller closes the position and velocity loops as usual. Use MAX
to map the encoder as the feedback device for the axis.
Figure 13-4. Torque Control Using Analog Feedback Flowchart
For monitoring force, create an outer loop to monitor the torque sensor, and
move the motor based on the value read from the torque sensor.