对于伺服驱动器可以选择的工作方式有：开环模式，电压模式，电流模式力矩模式，IR补偿模式，Hall速度模式，编码器速度模式，测速机模式，模拟位置环模式ANP模式。以上模式并不全部存在于所有型号的驱动器中开环模式输入命令电压控制驱动器的输出负载率。此模式用于无刷电机驱动器，和有刷电机驱动器的电压模式相同。电压模式输入命令电压控制驱动器的输出电压。此模式用于有刷电机驱动器，和无刷电机驱动器的开环模式相同。
PFEA112-20
电流模式力矩模式输入命令电压控制驱动器的输出电流力矩。驱动器调整负载率以保持命令电流值。如果驱动器可以速度或位置环工作，一般都含有此模式。IR补偿模式输入命令控制电机速度。IR补偿模式可用于控制无速度反馈装置电机的速度。驱动器会调整负载率来补偿输出电流的变动。当命令响应为线性时，在力矩扰动情况下，此模式就比不上闭环速度模式了。Hall速度模式输入命令电压控制电机速度。此模式利用电机上hall传感器的频率来形成速度闭环。
PFEA112-20
由于hall传感器的低分辨率，此模式一般不用于低速运动应用。编码器速度模式输入命令电压控制电机速度。此模式利用电机上编码器脉冲的频率来形成速度闭环。由于编码器的高分辨率，此模式可用于各种速度的平滑运动控制。测速机模式输入命令电压控制电机速度。此模式利用电机上模拟测速机来形成速度闭环。由于直流测速机的电压为模拟连续性，此模式适合很的速度控制。当然，在低速情况下，它也容易受到干扰。模拟位置环模式ANP模式输入命令电压控制电机的转动位置。这其实是一种在模拟装置中提供位置反馈的变化的速度模式如可调电位器、变压器等。在此模式下，电机速度正比于位置误差。且具有更快速的响应和更小的稳态误差。
PFEA112-20
The working modes that can be selected for servo drivers include open loop mode, voltage mode, current mode torque mode, IR compensation mode, Hall speed mode, encoder speed mode, tachometer mode, and analog position loop mode ANP mode. The above modes are not all present in all models of drivers. The open-loop mode input command voltage controls the output load rate of the driver. This mode is used for brushless motor drivers and is the same as the voltage mode for brushless motor drivers. The voltage mode input command controls the output voltage of the driver. This mode is used for brushless motor drivers and is the same as the open loop mode for brushless motor drivers.
PFEA112-20
Current mode torque mode input command voltage controls the output current torque of the driver. The driver adjusts the load rate to maintain the commanded current value. If the drive can operate with speed or position loops, this mode is generally included. IR compensation mode input command controls motor speed. The IR compensation mode can be used to control the speed of motors without speed feedback devices. The driver will adjust the load rate to compensate for changes in output current. When the command response is linear, this mode cannot compare to the closed-loop speed mode under torque disturbance. Hall speed mode input command voltage controls motor speed. This mode utilizes the frequency of the hall sensor on the motor to form a speed closed-loop.
PFEA112-20
Due to the low resolution of hall sensors, this mode is generally not used for low-speed motion applications. Encoder speed mode input command voltage controls motor speed. This mode utilizes the frequency of encoder pulses on the motor to form a speed closed-loop. Due to the high resolution of the encoder, this mode can be used for smooth motion control at various speeds. The input command voltage of the tachometer mode controls the motor speed. This mode utilizes an analog tachometer on the motor to form a speed loop. Due to the analog continuity of the voltage of the DC tachometer, this mode is suitable for speed control. Of course, it is also susceptible to interference at low speeds. Analog position loop mode ANP mode input command voltage controls the rotation position of the motor. This is actually a speed mode that provides position feedback changes in analog devices such as adjustable potentiometers, transformers, etc. In this mode, the motor speed is proportional to the position error. And it has faster response and smaller steady-state error.
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