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App - 1
App
endix
App 1. Signal arrangement recording sheets
(1) Position control mode
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20
DO1
LG
VDD
SG
P15R
COM
1
2
3
5
4
6
7
9
8
10
11
12
13
14
15
16
17
18
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20
COM
OPC
SG
NG
SGSG
CN1A
CN1B
LB
LAR
LA
LZR
LZ
OP
P15R
PGPP
NP
LG
LBR
EMG
LSP
TLA
LSN
(2) Speed control mode
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3
5
4
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20
DO1
LG
VDD
SG
P15R
COM
1
2
3
5
4
6
7
9
8
10
11
12
13
14
15
16
17
18
19
20
COM
SG
SGSG
CN1A
CN1B
LB
LAR
LA
LZR
LZ
OP
P15R
LBR
EMG
LSP
LSN
LG
VC
(3) Torque control mode
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4
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18
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20
DO1
LG
VDD
SG
P15R
COM
1
2
3
5
4
6
7
9
8
10
11
12
13
14
15
16
17
18
19
20
COM
SG
SGSG
CN1A
CN1B
LB
LAR
LA
LZR
LZ
OP
P15R
LBR
EMG
LG
VLA
TC