伺服驱动器按照其控制对象由外到内分为位置环、速度环和电流环，相应伺服驱动器也就可以工作在位置控制模式、速度控制模式和力矩控制模式。
当伺服驱动器工作在力矩控制模式时，其力矩给定值可以由三种方式给定：1、使用模拟量给定；2、参数设置的内部给定；3、总线给定。
当伺服驱动器工作在速度控制模式时，其速度给定值可以由三种方式给定：1、使用模拟量给定；2、参数设置的内部给定；3、总线给定。
当伺服驱动器工作在位置控制模式时，其位置给定值可以由两种方式给定：1、脉冲输入给定；2、总线给定。
参数设置的内部给定应用比较少，为有限的有级调速。
使用模拟量给定的优点是响应快，应用于许多高精度高响应的场合，缺点是存在零漂，给调试带来困难。
脉冲控制兼容常用信号方式：CW/CCW（正反向脉冲）、脉冲/方向、A/B相信号。缺点是响应慢，日系和国产多采用这种方式。
我当然最推崇总线给定的方式，这也是欧系品牌常用的控制方式，优点是给定迅速，响应快，能合理进行运动规划，特别适合凸轮控制和flying定位方式，目前高档数控机床多采用这种方式。
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