{HEAD ~ a motor drive} for driving {TAIL ~ said motor} on the basis of the target motor current set by said control unit; and 
for driving
{ HEAD ~ a motor drive } for driving { TAIL ~ said motor } on the basis of the target motor current set by said control unit ; and
HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH