IAI America PCON-CFA - Manual (Page 165)

4. SCON-CA
159
[9] Half direct mode 3: In this mode, the actuator is operated by specifying the speed,
acceleration/deceleration and push current, in addition to the target position, directly
as values.
In this mode, the vibration damping function is supported instead of the jog function
available in mode [3].
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