I have a project coming up soon that involves a retrofit of a Cel-Con HMC. The owner has a bunch of AMC BE25A20 drives to use on it. The servo motors are Fanuc red caps and we have some of Pico Systems' converters that give us the hall and encoder signals from the motors.
I have been doing a bunch of reading trying to figure out if it is better to run the servo amplifiers in velocity mode or torque mode. I have found many references that AMC recommends always using torque mode for CNC applications, and indeed that is how Galil uses their amplifiers. I have also read however that control is more precise and 'definitive' when the amplifier can run in velocity mode with the loop closed by connecting tach or encoder feedback to the amp. What is the consensus on this from LinuxCNC users and developers? What have been your experiences? Thanks in advance everyone.
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