Answers: The user can use parameter P1-01 to change the control mode (see the following table). After the setting is completed, cut the power off and restart the servo drive again. The new control mode will be valid after drive off / on action. Pt: Position control mode (command from external signal) Pr: Position control mode (command from internal signal) S: Speed control mode (external signal / internal signal) T: Torque control mode (external signal / internal signal) Sz: Zero speed / internal speed command Tz: Zero torque / internal torque command