Torque mode control MDC2460

Hi,

I'm trying to control a 36V 500W brushed DC motor(unitemotor my1020) operating in torue mode, with hall sensor for closed loop feedback, using the MDC2460 v1.8 controller.
I want to operate the motor between -10A to 10A with 10mA resolution, but I can only operate with 500mA resolution.

The manual at p164 "Torque mode limitation" says "amps are measured with 500mA increaments.".
And the manual at p164 "Torque Mode Using an External Amps Sensor" says "The limitations can be circumvented using an external amps sensor device".

So I use external amps sensor but I can't operate with 10mA resolution.

What I need any configulation at roborun+?

I read this manual.
file (roboteq.com)
file (roboteq.com)
roborun-+-utility-user-manual.pdf (generationrobots.com)

How are you reading the external sensors and how are you applying those motor current values to the torque mode?  Just using Roboteq's motor current variable will continue to use the built in approximation (in 500 mA intervals) and I think you will need to script what you are wanting to do.

I connected an external sensor to the analog input of the MDC2460. I applied those motor current values by -1000 to 1000 "!G 1or2 command-value".  
Here is analog input settings.

Aln3:
- Conversion Type:Absolute
- Input Use:Feedback(1)
- Range
  - Input Min(mV):2268
  - Input Center(mV):2468
  - Input Max(mV):2668
- Conversion Polarity:Direct
- Input Deadband(%):5
- Action on Min:NoAction
- Action on Max:NoAction

Aln4:
- Conversion Type:Absolute
- Input Use:Feedback(2)
- Range
  - Input Min(mV):2268
  - Input Center(mV):2468
  - Input Max(mV):2668
- Conversion Polarity:Direct
- Input Deadband(%):5
- Action on Min:NoAction
- Action on Max:NoAction

I want to control those motor current -10A to 10A with 10mA resolution. And I want to accurately control the current of these motors even below 2A.

Thank you.
The external sensor's sensitivity is 20mV per 1A.
The sensor specifications is here.

Supply Voltage Vcc(min to max) :5V typ (4.5V to 10.5V)
Null point Voltage  :(Vcc/2)±0.05V
Sensitivity   :20mV/1A
Frequency Response(5% down) :22kHz
Dynamic range   :±75A
Current consumption  :7mA
Output current   :0.6mA min(sink current), 1mA min(source current)
Liniality   :±3%
Temperature Error (%/℃) :±0.03%
Operating temperature  :-10℃~+80℃

Is the mode I should use position tracking mode, not torque mode?