... )Control MethodIGBT PWM sinusoidal waveform controlControl Mode1, Position control 2,Speed control 3,Torque control 4, Position/speed control ... control 9, Internal torque controlControl Input1, Servo control enable 2, Fault clear 3, Initial position error clear 4, Command ... Control mode selection 8,zero speed clampControl Output1, Servo ready 2, Servo alarm 3, Mechanical brake release 4, Position/Speed ...