If motion is initiated in velocity mode, does the LM629 need to stop the motor before the mode is changed to position mode? What about changing from position mode to velocity mode?

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If motion is initiated in velocity mode, does the LM629 need to stop the motor before the mode is changed to position mode? What about changing from position mode to velocity mode?

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The motor does not have to be stopped to change from velocity mode to position mode, or from position mode to velocity mode.

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