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In fact, with torque control, I don't think Linuxcnc is up to the task, you should choose OMRON..... PMAC controller.

Usually, the controller with a position closed-loop, the generation of following errors, and the PID controller of the upper computer, has little to do with it, because the position loop can be adjusted in the drive. At the same time, the following error = the maximum feed speed is proportional to the position loop gain

You should get the vendor's ethercat definition, which provides the scaling function....

Oh so those are now all in one file?
There were 3 back then, quick start, documentation and integrator's manual.
I recall thinking "how is this software under 5MB in size while documentation is nearly 30MB???"
Good times.

Just a heads up. Tommy's link is to Linuxcnc v 2.6 and our release version is now 2.9 so it will be obsolete in places.
The PDF files are available from the Documention page but are just a copy of the content in the HTML version which I tend to use in preference,
But none the less I too was gobsmacked when starting off to find the documentation runs to 1347 pages!
2.9 version: linuxcnc.org/docs/stable/pdf/LinuxCNC_Documentation.pdf
 

Can you post your config files?