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The MX-64 and higher have direct torque control. The AX series do not.

You could try setting torque limit slightly higher than your demand torque, and punch limit slightly lower than our demand torque, as well as setting the position demand to a very high value in the direction you wish to push, but you would have to build your own torque compensation loop to generate the demand based on sensed feedback from the motor, and unfortunately the update rate will be quite slow.

cheers, C