Torque, Speed, Position, Point to Point setting and dual control mode, which enables optimal control by integration with other control systems. Built-in 10 levels of system rigidity setting and ON-Line OFF-Line auto gain tuning.Effective suppression of mechanical resonance to provide a stable control system.In position speed mode, the adjustment of time parameter modifies the speed position curve , provides smooth operation , therefore extends the life expectancy of the mechanical system.