一般伺服都有三種控制方式：位置控制方式、轉(zhuǎn)矩控制方式、速度控制方式。
1、位置控制：位置控制模式一般是通過外部輸入的脈沖的頻率來確定轉(zhuǎn)動速度的大小，通過脈沖的個數(shù)來確定轉(zhuǎn)動的角度，也有些伺服可以通過通訊方式直接對速度和位移進行賦值，由于位置模式可以對速度和位置都有很嚴格的控制，所以一般應用于定位裝置。
2、轉(zhuǎn)矩控制：轉(zhuǎn)矩控制方式是通過外部模擬量的輸入或直接的地址的賦值來設(shè)定電機軸對外的輸出轉(zhuǎn)矩的大小，可以通過即時的改變模擬量的設(shè)定來改變設(shè)定的力矩大小，也可通過通訊方式改變對應的地址的數(shù)值來實現(xiàn)。
應用主要在對材質(zhì)的手里有嚴格要求的纏繞和放卷的裝置中，例如繞線裝置或拉光纖設(shè)備，轉(zhuǎn)矩的設(shè)定要根據(jù)纏繞的半徑的變化隨時更改以確保材質(zhì)的受力不會隨著纏繞半徑的變化而改變。
3、速度模式：通過模擬量的輸入或脈沖的頻率都可以進行轉(zhuǎn)動速度的控制，在有上位控制裝置的外環(huán)PID控制時速度模式也可以進行定位，但必須把電機的位置信號或直接負載的位置信號給上位反饋以做運算用。位置模式也支持直接負載外環(huán)測試位置信號，此時的電機軸端的編碼器只測試室電機轉(zhuǎn)速，位置信號就由直接的終負載端的測試裝置來提供了，這樣的優(yōu)點在于可以減少中間傳動過程中的誤差，增加了整個系統(tǒng)的定位精度。Generally, there are three control modes for servo: position control mode, torque control mode and speed control mode.
1. Position control: the position control mode generally determines the rotation speed through the frequency of external input pulses, and determines the rotation angle through the number of pulses. Some servos can directly assign values to the speed and displacement through communication. Since the position mode can strictly control the speed and position, it is generally applied to the positioning device.
2. Torque control: the torque control mode is to set the external output torque of the motor shaft through the input of external analog quantity or direct address assignment. The set torque can be changed by changing the setting of analog quantity in real time, or by changing the value of the corresponding address through communication.
It is mainly used in winding and unwinding devices that have strict requirements on the material, such as winding devices or optical fiber pulling equipment. The torque setting should be changed at any time according to the change of winding radius to ensure that the stress of the material will not change with the change of winding radius.
3. Speed mode: the rotation speed can be controlled through the input of analog quantity or the frequency of pulse. The speed mode can also be positioned during the outer loop PID control with upper control device, but the position signal of motor or the position signal of direct load must be fed back to the upper for calculation. The position mode also supports the direct load outer ring test position signal. At this time, the encoder at the motor shaft end only tests the motor speed in the chamber, and the position signal is provided by the direct final load end test device. This has the advantage that it can reduce the error in the intermediate transmission process and increase the positioning accuracy of the whole system.