44 Control locations and operating modes Speed control modeThe motor follows a speed reference given to the drive. This mode can be used eitherwith estimated speed as feedback, or with an encoder or resolver for better speedcontrol accuracy.Speed 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. Torque control is possiblewithout feedback, but is much more dynamic and accurate when used in conjunctionwith a feedback device such as an encoder or a resolver. It is recommended that afeedback device is used in crane, winch or lift control situations.Torque control mode is available in DTC motor control mode for both local andexternal control locations. Frequency control modeThe motor follows a frequency reference given to the drive. Frequency control is onlyavailable in scalar motor control mode. Special control modesIn addition to the control modes mentioned above, the following special controlmodes are available:• Process PID control. For more information, see section Process PID control (page106).• Emergency stop modes Off1 and Off3: Drive stops along the defined decelerationramp 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 96).
