How it is possible to control torque of dc motor by 0 rpm

I want to realise a stand to test elements to get the max torque. The elements do not rotate. My plan is to take a dc motor if it is necessary additional a gearbox and impact it up to breakdown. In fact controlling dc motors torqu sounds easy because it is commensurate with the current.
My requirements are:
- possibility of setting dI / dt = dT / dt independant of U
- I-signal logging as indikator for the torque
- T<10 Nm
Maybe someone of you has a better idea or a proposal how to solve my problem. I still do not have any equipment for measuring. So it is necessary to buy smth

Hello,
to give you some good advice there are several Information which are helpful.
Do you have some Datasheets of your Motor, Converter and Gearbox.
Do you want only measure or do you want also control and regulate the components of
your test stand.
After Data Acquisition do you want to analyze the Data or only generate an Report.
Best Regards

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Force Conrtol Loop Settings Actuator-BEST.JPG ‏41 KB
Step Responce Actuator-Force Feedback-BEST.JPG ‏58 KB

Hello Jochen and thank you for your very nice reply.
The past few days I have been trying to implement your advice, but unfortunately I did not have much success. Let me start by saying that explanations to my problem, the 2nd one looked more probable, as I always make sure that there is contact between my actuator and the workpiece I am pushing against. So, I unmapped my DAC by setting up the axis as a stepper axis with no feedback and I used the Load DAC to apply voltage and see when my actuator starts moving. That gave me the upper and lower limits for the Static Friction Compensation filter (please refer to attached image). I then implemented this filter and tried to retune the PID parameters, but the results I got were poor.
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I could not eliminate the steady state error. When I tried to eliminate the steady state error by increasing Ki, or tried to create an initial overshoot by increasing Kp, I always ended up with an unstable system or a system with a response similar to the one shown in attached figure “Step Responce Actuator-Force Feedback-WITH FILTER_v1”.
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Sensor Bandwidth: N/A, Charge Amplifier Bandwidth: 200 kHz, Low pass filter: No (Amplifier has the capability though)
PID Update Period: 250 microseconds (fastest available)
NI Motion Version 2.3
Labview Version 8.5.1
Thank you,
Thomas
Attachments:
Step Responce Actuator-Force Feedback-Filter Settings.JPG ‏28 KB
Step Responce Actuator-Force Feedback-WITH FILTER_v2.JPG ‏69 KB
Step Responce Actuator-Force Feedback-Filter Settings.JPG ‏28 KB

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How it is possible to control torque of dc motor by 0 rpm

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