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6.8.3. Torque/Position control mode switch
This hybrid mode is divided into 2 types: T/Pt and T/Pr. Users could set the PA01 as 1005h (T/Pt
mode) or 1015h (T/Pr mode). The switch could not be performed if the motor is at a high speed rotation.
It could be switched as the zero speed detection output signal is ON. Users could use the pin function
LOP of DI to switch these 2 modes. When the position mode with inner register command is wanted,
the state of CTRG signal must be turned on. The sequence chart is presented in the figure below.
It is recommended that users switch torque to position mode after the motor is static.
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