• 如果您对电机的速度、位置都没有要求，只要输出一个恒转矩，当然是用转矩模式。
  If you have no requirements on the speed or position of the motor, you only need to output a constant torque, of course in torque mode.

• 如果对位置和速度有一定的精度要求，而对实时转矩不是很关心，用速度或位置模式比较好。
  If there are certain accuracy requirements for position and speed, but you are not very concerned about real-time torque, it is better to use speed or position mode.

• 如果上位控制器有比较好的闭环控制功能，用速度控制效果会好一点。如果本身要求不是很高，或者基本没有实时性的要求，用位置控制方式对上位控制器没有很高的要求。
  If the upper controller has a better closed-loop control function, the speed control effect will be better. If the requirements are not very high, or there are basically no real-time requirements, the position control method does not have high requirements for the upper controller.

一般说驱动器控制的好坏，有个比较直观的比较方式，叫响应带宽。
Generally speaking, there is a relatively intuitive way to compare the quality of driver control, which is called response bandwidth.

当转矩控制或速度控制时，通过脉冲发生器给它一个方波信号，使电机不断的正转、反转，不断的调高频率，示波器上显示的是个扫频信号，当包络线的顶点到达最高值的70.7%时，表示已经失步，此时频率的高低，就能说明控制的好坏了，一般电流环能做到1000HZ以上，而速度环只能做到几十赫兹。
When controlling torque or speed, give it a square wave signal through the pulse generator, causing the motor to continuously rotate forward and reverse, and continuously increase the frequency. What is displayed on the oscilloscope is a sweep signal. When the envelope When the peak reaches 70.7% of the maximum value, it means that it has lost synchronization. The frequency at this time can indicate the quality of the control. Generally, the current loop can achieve more than 1000HZ, while the speed loop can only achieve tens of Hz.

转矩控制方式是通过外部模拟量的输入或直接的地址的赋值来设定电机轴对外的输出转矩的大小，具体表现为例如10V对应5Nm的话，当外部模拟量设定为5V时电机轴输出为2.5Nm：如果电机轴负载低于2.5Nm时电机正转，外部负载等于2.5Nm时电机不转，大于2.5Nm时电机反转（通常在有重力负载情况下产生）。可以通过即时的改变模拟量的设定来改变设定的力矩大小，也可通过通讯方式改变对应的地址的数值来实现。
The torque control method is to set the external output torque of the motor shaft through external analog input or direct address assignment. For example, if 10V corresponds to 5Nm, when the external analog is set to 5V, the motor shaft Output is 2.5Nm: If the motor shaft load is less than 2.5Nm, the motor will rotate forward. When the external load is equal to 2.5Nm, the motor will not rotate. When the external load is greater than 2.5Nm, the motor will rotate reversely (usually caused by a gravity load). The set torque can be changed by changing the analog setting in real time, or by changing the corresponding address value through communication.

应用主要在对材质的受力有严格要求的缠绕和放卷的装置中，例如饶线装置或拉光纤设备，转矩的设定要根据缠绕的半径的变化随时更改以确保材质的受力不会随着缠绕半径的变化而改变。
It is mainly used in winding and unwinding devices that have strict requirements on the stress of the material, such as wire pulling devices or optical fiber pulling equipment. The setting of the torque should be changed at any time according to the change of the winding radius to ensure that the force of the material is not affected. Will change as the winding radius changes.

位置控制模式一般是通过外部输入的脉冲的频率来确定转动速度的大小，通过脉冲的个数来确定转动的角度，也有些伺服可以通过通讯方式直接对速度和位移进行赋值。由于位置模式可以对速度和位置都有很严格的控制，所以一般应用于定位装置。
The position control mode generally determines the rotation speed through the frequency of externally input pulses, and determines the rotation angle through the number of pulses. Some servo can also directly assign speed and displacement through communication. Since the position mode can strictly control both speed and position, it is generally used in positioning devices.

应用领域如数控机床、印刷机械等等。 Application areas such as CNC machine tools, printing machinery, etc.

通过模拟量的输入或脉冲的频率都可以进行转动速度的控制，在有上位控制装置的外环PID控制时速度模式也可以进行定位，但必须把电机的位置信号或直接负载的位置信号给上位反馈以做运算用。位置模式也支持直接负载外环检测位置信号，此时的电机轴端的编码器只检测电机转速，位置信号就由直接的最终负载端的检测装置来提供了，这样的优点在于可以减少中间传动过程中的误差，增加了整个系统的定位精度。
The rotational speed can be controlled through analog input or pulse frequency. The speed mode can also be used for positioning when there is an outer loop PID control of a host control device, but the position signal of the motor or the position signal of the direct load must be given to the host. Feedback for calculation purposes. The position mode also supports direct load outer ring detection of position signals. At this time, the encoder on the motor shaft end only detects the motor speed, and the position signal is provided by the direct detection device on the final load end. This has the advantage of reducing the need for intermediate transmission. The error increases the positioning accuracy of the entire system.

伺服电机一般为三个环控制，所谓三环就是3个闭环负反馈PID调节系统。最内的PID环就是电流环，此环完全在伺服驱动器内部进行，通过霍尔装置检测驱动器给电机的各相的输出电流，负反馈给电流的设定进行PID调节，从而达到输出电流尽量接近等于设定电流，电流环就是控制电机转矩的，所以在转矩模式下驱动器的运算最小，动态响应最快。
Servo motors are generally controlled by three loops. The so-called three loops are three closed-loop negative feedback PID adjustment systems. The innermost PID loop is the current loop. This loop is completely performed inside the servo driver. The output current of each phase of the driver to the motor is detected through the Hall device, and negative feedback is given to the current setting for PID adjustment, so that the output current is as close as possible. Equal to the set current, the current loop controls the motor torque, so in the torque mode, the driver’s operation is the smallest and the dynamic response is the fastest.

第2环是速度环，通过检测的电机编码器的信号来进行负反馈PID调节，它的环内PID输出直接就是电流环的设定，所以速度环控制时就包含了速度环和电流环，换句话说任何模式都必须使用电流环，电流环是控制的根本，在速度和位置控制的同时系统实际也在进行电流（转矩）的控制以达到对速度和位置的相应控制。
The second loop is the speed loop, which performs negative feedback PID adjustment through the detected signal of the motor encoder. The PID output in the loop is directly the setting of the current loop, so the speed loop control includes the speed loop and the current loop. In other words, any mode must use a current loop. The current loop is the basis of control. While speed and position are controlled, the system is actually controlling current (torque) to achieve corresponding control of speed and position.

第3环是位置环，它是最外环，可以在驱动器和电机编码器间构建也可以在外部控制器和电机编码器或最终负载间构建，要根据实际情况来定。由于位置控制环内部输出就是速度环的设定，位置控制模式下系统进行了所有3个环的运算，此时的系统运算量最大，动态响应速度也最慢。
The third loop is the position loop, which is the outermost loop. It can be constructed between the driver and the motor encoder or between the external controller and the motor encoder or the final load, depending on the actual situation. Since the internal output of the position control loop is the setting of the speed loop, the system performs calculations on all three loops in the position control mode. At this time, the system has the largest amount of calculations and the slowest dynamic response speed.