The VPforce controllers are tightly integrated with the motor controllers for optimal performance, a

The VPforce controllers are tightly integrated with the motor controllers for optimal performance, adding support for 3rd party motor controllers is not planned.

Secondly, many people confuse these with steppers due to NEMA form factor, but in fact these servos are 3 phase brushless.

Speaking of torque, 20+nm is doable with VPforce 86BLF04 servos and proper reduction. Those are chonky motors weighing 2.7kg each, driving up to 4.5-5Nm at the shaft
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