torque control feature power motion i-A

Hello everybody,
My name is Alex, I am a PMC FANUC programmer.
I created a project for a 400-place tool magazine with a Power Motion i-A PMC (MEM-B).
I know systems with fanuc 30i-31i-32i B very well.
Now I come to the question:

Has anyone ever used the one axis torque control feature from fanuc ladder?
Can you tell me where I can find some information about it?

The function manual for your control explains it. This is a PMC axis feature.