VFD Torque Control Code

I need bespoke code that lets my Variable Frequency Drive run an induction motor strictly in torque-control mode. The goal is smooth, accurate torque delivery across the full speed range, with rapid response to load changes and minimal overshoot. The hardware is an induction motor paired with a modern, field-bus-ready VFD; if you normally work with Modbus, CANopen or direct PLC integration that is a plus. I am open to your preferred language or environment—whether it is ladder logic in the drive’s own editor, structured text via IEC 61131-3, or an embedded C solution—so long as the final program can be flashed and tuned in the standard vendor software. Please highlight your experience with similar torque-controlled applications when you reply. I am especially interested in previous projects where you implemented closed-loop torque or vector control, auto-tuning of motor parameters, and safety interlocks such as over-current and stall protection. Deliverables (as separate files or folders): • Fully commented source code ready to load into the drive • Parameter file or recipe for initial commissioning • Brief commissioning guide outlining test procedure, expected readings, and tuning tips • Short video or data log demonstrating the motor holding or ramping to a commanded torque set-point I will handle the physical wiring and bench tests on my side; remote support for the first startup session would be appreciated and can be scheduled in advance.