... controlControl Mode1, Position control 2,Speed control 3,Torque control 4, Position/speed control 5, Position/Torque Control 6, Speed/Torque Control 7, Internal ... limit 7, Phase-Z outputEncoder(Speed Sensor) Feedback2500p/r,15 resolution incremental encoder,differential output500 p/r,15 resolution incremental encoder,differential outputCommunication ...