Hi, The error in description file will fixed in next release of adaption package. Yes, the error in description file may lead switching torque mode work incorrectly. If you don't wait for next release, you can edit the decription file manually and reintall it in deveice repository. There should be 2 changes: <Parameter ParameterId="8040" type="std:INT">
<Attributes channel="none" download="true" functional="false" offlineaccess="read" onlineaccess="read"/>
<Default>
1168
</Default>
<Name name="localStrings:out.dwSetTorque">
MDT.Torque_force_command_value
</Name>
</Parameter>
...
<Parameter ParameterId="8540" type="std:INT">
<Attributes channel="none" download="true" functional="false" offlineaccess="read" onlineaccess="read"/>
<Default>
1119
</Default>
<Name name="localStrings:in.dwActPosition">
AT.Actual_velocity_value_encoder_1
</Name>
</Parameter> Thank you!
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