Control locations and operating modes 21Speed control mode is available in both local and external control. It is also availableboth in DTC (Direct Torque Control) and scalar motor control modes. Torque control modeMotor torque follows a torque reference given to the drive. This mode can be usedeither with or without an encoder or resolver. When used with an encoder or resolver,this mode provides for more accurate and dynamic motor control.Torque control mode is available in both local and external control. Frequency control modeThe motor follows a frequency reference given to the drive. Frequency control is onlyavailable for scalar motor control. Special control modesIn addition to the above-mentioned control modes, the following special controlmodes are available:• Process PID control. For more information, see section Process PID control (page38).• Emergency stop modes OFF1 and OFF3: Drive stops along the defineddeceleration ramp and drive modulation stops.• Jogging mode: Drive starts and accelerates to the defined speed when thejogging signal is activated. For more information, see section Jogging (page 31).
