How to use this sw fix for a small (Imax ~< 4 A) motor connected to a T or G -drive:

1) Load the parameters for the external axis (se User's Guide)

2) Load the file small_m.cfg 

3) Restart the system

4) Go into the system parameters - manipulator:
					types - drive_unit
						  'name_of_axis'
   		change the folowing parameters:
			1) Use current control - from cc_slow_1 to cc_small 
			2) Use drive unit sup. - from d_u_sup to d_u_slow

5) Go into the system parameters - manipulator:
					types - drive_system
						  'name_of_axis'
		change the folowing parameters:
			  Use current transf. - from curr_tr_0.XX to cur_tr_0.40
6) Restart the system
7) Tune the speed loop (Kv, Ti) as usual
8) Tune the position loop (don't use a too high Kp, it can be unstabile when the motor
                           becomes warm)

