How to locate the torque mode of Panasonic private server

In servo torque mode, the speed limit value is controlled by analog quantity, and the torque limit signal is used to achieve the purpose of screwing.
At present, the problem is: when the torque limit signal is output, you want to judge whether it is screwed in place. How do you realize this working condition? What is the convenient way?
In addition, can the servo position mode achieve positioning and torque control by changing the servo torque?