1. commands to get axis moving in vel mode
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driveenable(0) = 1     ' enable the axis
controlmode(0) = 2     ' 1=tor, 2=vel, 3=pos

kiprop = 0.51          ' current P term, 0 to 50
kiint  = 529.48        ' current I term, 0 to 50000


kvprop(0)  = 5.5       ' vel P term, 0 to 1000
kvint(0)   = 418       ' vel I term, 0 to 50000
kvtrack(0) = 0         ' vel tracking factor, 0 to 100

kprop = 14.44 
kvelff = 841.

velref(0)  = 1         ' rev/sec

2. commands to have axsi1 follow axis 0 in velocity
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control node will need to be "Managne node profiled".