Tuning ac servo in torque mode?

I remember there is a topic that explain step by step about tuning ac servo in torque mode. I forgot where to find it, can anyone link me? Thanks.

Thank you for the answer. I 'm not only search via GG but also use advanced search of this forum, most of results are tuning in velocity mode. i remember i read a topic in this from about how to hook hal pins and tuning pid parameters in torque mode, i'm still keep searching it on forum.