Yes, each melee swing drained some endurance (the yellow bar below health/mana), heavier weapons drained more per swing.
A few classes have spells to recover endurance bar (I believe bards have a song that does it also).
One reason a weapon like the Elegant Darkwood Katana (from kith night) was decent is that its a 2her that only has a 2.0 weight (while something like the Oggok Cleaver at 15 weight would be a big endurance drain).
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