Thank you for sending us your new farm. However, it was not the problem of this thread that was solved by the firmware upgrade, but the "Torque control behavior is strange" explained in another thread. The content declared in this thread has not been resolved. However, I understand how to use motor off / motor stop / motor running. I found that if you send the motor running command and then send the position command, speed command or torque command after the motor is turned on, you will enter that mode. However, it takes a few seconds after the running command is sent until the motor turns on. Also, I haven't found a way to know that it has been turned on from the command. I haven't found any of these behaviors documented. Please specify it in the document. Furthermore, it is not known that the acceleration setting is not reflected during speed control and that the speed setting is disabled (or step response mode setting) during position control. Thank you for your continued support.
