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| Mode | Description | Typical Application | | :--- | :--- | :--- | | | Pulse Train Position (CW/CCW, Pulse+Dir, A/B phase) | CNC routers, pick & place | | S | Speed via analog (0–10V) or multistep digital terminals | Conveyors, winding machines | | T | Torque via analog (-10–10V) | Tension control, lab dynamometers | | PR | Internal Position Register – 16 programmable profiles in flash | Indexing tables, packaging star wheels | | CANopen | CiA 402 profile (velocity, position, homing) | Multi-axis coordinated motion | goldcut jk series driver