OK, so the Fanuc control generates the velocity signal from the encoder pulses. There are boxes to do this, but they get fairly expensive. The Fanuc amps can be set for torque mode, but that requires some rewiring and a total retuning.I have Fanuc dc yellow cap motors and Fanuc analogue drives.
G41/42 work quite well, but they do require strictly avoiding gouging the work side.By the way how well does G41 G42 cutter comp work in EMC...is it reliable..?
Some controls are quite forgiving on that. The techniques to avoid the gouges are pretty simple when setting up lead-in and lead-out points.