How to stop a torque controlled motor with Softmotion

Hi everyone,

I am using CRIO-9049 and Yaskawa Sigma-7 motors and EtherCAT drives.

Now, I can set the motor in velocity mode and torque mode with property nodes, and the motors run well in both control modes.

But I can't stop the motors using Stop function. How should I achieve it?

By the way, if I want to stop the motors by deceleration, how can i load the rate of deceleration?