... speed control 5, Position/Torque Control 6, Speed/Torque Control 7, Internal position control 8, Internal speed control 9, Internal ... clear 4, Command pulse isable 5, CCW driver disable 6, CW driver disable 7, Control mode selection 8,zero speed clampControl Output1 ... /Speed arrival 5, Zero-speed detection 6, Torque limit 7, Phase-Z outputEncoder(Speed Sensor) Feedback2500p/r,15 resolution incremental ...