Torque and Motion actuation

Hi,

Why is that I'm not getting any torque, when i actuate a revolute joint through Motion. I rotated a body from 0 to 30 deg for 3s, like 10deg every second. I got a smooth linear motion, but the output torque is zero.

And why is that i couldn't actuate a revolute joint by both torque and motion. My input is Torque vs Motion, any idea how should i give this input.

Thanks, Vishnu.