Fanuc 10/20M Convert to Torque/Current mode

[mch]

I have Fanuc 10M and 20M motors and drivers (Amps).
Is there a way to configure them for Torque/Current (no tach) mode instead of Velocity mode with tach. so they will work with a Galil controller using PID tuning?

[Al_The_Man]

You don't need to do anything to the motors, apart from not hooking up the tach's, maybe take the tach brushes out.
But the existing drive would have to be replaced with torque mode type. A-M-C or similar.
The exsiting one should work OK in the velocity mode with Galil.
Al.

[Arrow Control]

Any experience on which AMC amps work best with size 5/10/20 motors? I know which ones to use but would like to hear feedback from anyone whos actually done it and see how well they perform??