PID SERVO TUNING

Yannis wrote:

it is something common to control in the same machine some motors in velocity mode and some in torque mode??

I don't think that it is very common, but neither is it anything to avoid or worry about.

Yannis wrote:

According to the manual to tune the motor or use the AUTO TUNE FUNCTION of the driver i have to use a TANDY 102
(PAGE 36) that is not possible

It also says "VT52" and there are lots of ways to emulate that with modern hardware, including using the LinuxCNC PC assuming it has a serial port.
See, for example, the discussion here: unix.stackexchange.com/questions/22545/h...-simple-as-using-ssh

I have used "screen" on my Mac to monitor the low-level BIOS output of a single-chip computer. It definitely ought to work.