1. Torque control: the torque control mode is to set the external output torque of the motor shaft through the input of external analog quantity or the assignment of direct address. For example, if 10V corresponds to 5nm, when the external analog quantity is set to 5V, the output of the motor shaft is 2.5nm: if the load of the motor shaft is lower than 2.5nm, the motor will rotate forward, and when the external load is equal to 2.5nm, the motor will not rotate, When the torque is greater than 2.5nm, the motor reverses (usually under gravity load). The torque can be changed by changing the setting of analog quantity immediately, and the corresponding address value can also be changed by means of communication. It is mainly used in winding and unwinding devices with strict requirements on material stress, such as wire winding device or fiber pulling equipment. The setting of torque should be changed at any time according to the change of winding radius to ensure that the material stress will not change with the change of winding radius.

  2. Position control: position control mode generally determines the rotation speed by the frequency of external input pulse, and determines the rotation angle by the number of pulses. Some servos can assign values to the speed and displacement directly by means of communication. Because position control mode can strictly control the speed and position, it is generally used in positioning devices.

  3. 3.Speed mode: the rotation speed can be controlled by the input of analog quantity or the frequency of pulse. The speed mode can also be positioned when there is the outer loop PID control of upper control device, but the position signal of motor or the position signal of direct load must be fed back to the upper position for calculation. The position mode also can detect the position signal by the direct load outer ring . At this time, the encoder at the motor shaft end only detects the motor speed, and the position signal is provided by the direct detection device at the final load end. The advantage of this mode is that it can reduce the error in the intermediate transmission process and increase the positioning accuracy of the whole system.