Servo motor control mode

[Umberto]

Hi, im building machine other than 3d printer, type of the eletctrical press. Best for this application is torque control mode wich is provide by servo and controler that im using, it's here:
https://www.omc-stepperonline.com/pl/serwosilnik-serii-t6-1000-w-3000-obr-min-3-19-nm-z-hamulcem-17-bitowy-enkoder-ip65-t6-rs1000h2b3-m17s
(I need the motor to push thing, and then go back to estop, in cycle, but with counting cycles etc, i just want to use duet because of DWC)
Setup:
DUET 3 MINI 5+, 2pcs 1XD, SBC mode with RPI4

With standard step/dir mode i run it smoothly like in 3D printer, and made some macros for alarms etc.
My first try was with analog input in servo and provide 0-10V with some type of converter from duet (controling torque like a fan with PWM, than convert it to 0-10V). But after i ordered the servo i found out that servo drive doesn't have physical analog input. Only the inside setup value or outer comunication via RS485.
And i found TTL converter (wich is suported by duet) to RS485.

And now i have two question:

1. Is it possible to comunicate duet and setup rs485 comunication with this servo drive in some easy ways, and then by comands listed in servo drive guide just use the servo by sending comands or use macros from DWC.

2. How can i use this simple torque mode with setup parameters from Motion Studio that is provided with T6 Servo, im trying to find anything but it seems that it is very little about it in the instruction, maybe i will program servo drive 1 cycle, and then send digital signal from duet to induce cycle or induce part of the movement.

I hope that anyone can help - any track will be helpfull.

[dc42]

@Umberto we intend to support Modbus-RTU via RS485 in a future version of RepRapFirmware, either in 3.6 or possibly in a 3.5.x release.

[Umberto]

@dc42 Nice! Im waiting for this type of features, it will help in many industrial aplications. If this is possible i want do beta tests.
Do you know when it will be aviable? Or how i can now setup rs485 in this setup? Maybe you have seen any programs on rpi that will help me.

Thanks!