Yaskawa MotionWorks IEC - Manual (Page 173)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 165
MC_TorqueControl
This function block continuously exerts a torque or force of the specified
magnitude. This magnitude is approached using a defined ramp
(TorqueRamp), and the Function Block sets the InTorque output if the
commanded torque level is reached. This function block is applicable for
force and torque. When there is no external load, force is applicable.
Positive torque is in the positive direction of velocity.