Hold Position in Torque Mode

Hello,
I am new to the forum and new to using these motors. I have an old motor SM2316D-PLS2 that I am doing some tests and would like to seek some help.

I would like the motor to hold position at zero at a very low torque, say 40, Then I want to be able to move the motor by hand +/- one rotation, and when I let go of the shaft I want the motor to go back to the zero position, like a spring.

Thanks for any help you can offer.
Anthony