TMS320F28069M: Difference between control Modes

Please refer to chapter 12 of InstaSPIN user's guide, there is a detail description on your question. What application are you working on? And which lab do you want to use?

Hi Yanming and thank you for your reply.
I have read the user guide but didn't find an answer.
My application is a sort of servo which needs velocity control and position control at the same time. In the application I have two non-zero speeds say speed1 and speed2. the motor first accelerates to speed1 and then -after traveling some distance- reduces speed to reach speed2 at a specific position say position1. then it continues with speed2 and again after passing some distance it manages to stop at a specific position, say position 2. the motor should reach end position(position2) at zero speed or otherwise there will be a mechanical collision which is highly unwanted.
As you can see it has velocity profile (consisting of speed1 and speed2) which i call velocity control and also during this motion sequence, motor has to travel a specific distance and stop at a specific position and hence it needs position control.
I have experimented successfully with lab 6a and 6b (sensor less ) and lab 12b (sensored) velocity control. I have also tested lab 13b for point-to-point position control. Since Instaspin position controller can only start to run from zero speed, it seems that I can't use this lab for my application. I thought maybe using InstaSpin position controller in ST_POS_MOVE_VEL_TYPE could help me( lab13e). But I can not distinguish its functionality from velocity control(ST_runVelCtl()).
Could you please tell me what is the best way to achieve my application goal?

You can refer to lab13c or lab13e for velocity and positions control in the same time, to design your profile using spinTAC position plan.