Solution
The torque control is made by sending current commands instead of torque commands. The electrical current creates magnetic flux and that flux creates the torque. The current is measured and regulated, but not the torque.
Torque Setpoint input of the block diagram shown below indicates (on the
Help menu) that the value, for AKD EtherCAT Drives, should be given as thousandths of the rated torque, although it should be read as thousandths of the continuous current of the Drive.

For example, the continuos current for the AKD00606 is 6 A. The AKM 32e Servo Motor has a torque constant of 6.5 lb-in/Arms and static friction of 0.18 lb-in. If you want to know which value should introduce in LabVIEW in order to beat the static friction, here is the formula to get the theoretical value
1:
Setpoint = Desired Torque · 1000 / Continous Drive Current · Torque Constant. For this example,
Desired Torque is equal to the static friction. Any Setpoint higher than this value theoretically should move the motor.