... 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 ...