Yaskawa SGDG-04GT torque drives

I will use 7i77 kit, but these drives are only torque.

Everything setup the same as velocity control except the tuning?

I heard torque mode is harder to tune. Any advice?

/edit: This is for a 3 axis gantry machine so I will use 2.8JA so they need to be tuned really tight.....

Yes it's pretty much the same but you'll probably want a fast computer that can run a fast Servo thread.

I am running a couple of machines with torque (actually current) controlled drives with a 1kHz servo thread and software commutation with no problems and perfectly adequate performance.