Work with force/torque limiting without fixed stop detection

Thanks for your answer,

I have another problem, I want to work with force/torque limiting without fixed stop detection:

1. I want to learn, the limit value in MC_TorqueLimiting function, is torque value? I have the actual torque and I want to do limiting e.x. at 2Nm of torque. The limit value of function compare with actual torque?
2. The other problem is that if stop the shaft from torque limiting, the position in mm increase and when relief the shaft the motor increase a lot the speed until the real mm does equal with running mm when the shaft was stoped from torque limiting. If you don't understand what i say, i can send you a video.9
3. Also if i enable mode 1 the torquelimiting function (fixed stop detection), when enable the output InClamping, the function stop with fault...
4. You believe that another type of servo drive e.x. S120, will made better work about our application? 

Kind regards

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Split from Sinamics S210 Torque control.