... control enable 2, Fault clear 3, Initial position error clear 4, Command pulse isable 5, ... Position/Speed arrival 5, Zero-speed detection 6, Torque limit 7, Phase-Z outputEncoder(Speed Sensor) Feedback2500p/r,15 resolution incremental encoder ... ,differential output500 p/r,15 resolution incremental encoder,differential outputCommunication method1, RS232 ...