... board for the working mode setting, number 1, 2, 3, 4 respectively from the outer to inner ... speed control, speed input by Pos.ff;plug in 2, torque control, torque input by Pos.ff;plug ... in 1 and 2, position control for positive pulse/negative pulse input ... and 5 in the middle.Pos.ff : Position Feed-forward ControlPos.P: position proportional gain controlPos.D: position ...