# Control Mode

This chapter explains the operating mode, control source, serial protocol, and RS485 baud rate in the Control Mode window. The control source and operating mode determine which commands the drive responds to, so verify the field control path before changing them.

## Before You Begin

Item | What to Check
--- | ---
Target device | The main window is connected to the target drive, and the current connection ID matches the field device.
Device state | Before checking motor or encoder information or changing the control mode, stop the motor and make sure parameter changes, brake release, or position-reference changes cannot cause hazardous motion.
Parameter source | Use only the model, firmware, and delivery parameters confirmed for the project. Do not copy settings from a similar model or an older project.
Save strategy | After applying parameters, verify status and motion direction before deciding whether to save to Flash according to the project process.

High-risk operation: Encoder reset, operating mode, and control source can change the position reference, motion direction, or command source. Do not operate until field safety conditions are confirmed.

## Recommended Procedure

1. Confirm that the main window is connected to the target drive and verify the current connection ID.
2. After opening a window, click Refresh first to read the current device parameters.
3. For an editable window, change only a few verified parameters at a time. Avoid changing the control mode and control source together.
4. After clicking Apply, wait for completion and then observe status, position readings, and motion direction.
5. Validate first at low speed over a short travel or with no load. If normal, follow the project process to decide whether to save to Flash.

Do not immediately run long-travel, high-speed, or heavy-load motion after resetting an encoder or changing the control source. For motion verification, use the low-risk procedure on the Motion page.

## Control Mode

After connecting a device, click Control in the main window to open Control Mode.
Position control
Speed control
Torque control

### Operating-Mode Parameters

Parameter | Description | Recommendations
--- | --- | ---
Operating Mode | Selects whether the drive interprets its target as position, speed, or torque. Analog parameters are hidden in position control and shown in speed and torque control. | Before switching, confirm the subsequent command source and field mechanical risks.
Control Source | Selects the current command source. Common options include `0 - Not Used` and `1 - EtherCAT`. | Confirm whether the project is controlled by eTuner, an external master, or another source.
Analog type | Shown in speed and torque control. Select `0 - Internal` or `1 - External Analog Input`. It is hidden in position control. | Select according to field wiring and client configuration. Do not mix internal commands with an external analog input.

#### Analog Parameters

Internal
External Analog Input

Parameter | Description | Recommendations
--- | --- | ---
Analog Value | Shown when Analog Type is Internal. Sets the internally used analog command. | After changing it, verify output direction and response under low-risk conditions.
Analog input | Shows the converted analog-input value in `count/s` for speed control or `mA` for torque control. | Use it to verify that the external input or internal setting matches expectations.
Filter Coefficient(0~1) | Shown for External Analog Input and smooths the analog input. | Stronger filtering may slow the input response.
Static Offset(mV) | Shown for External Analog Input and compensates for analog zero offset. | Verify compensation with the external input at zero or its reference value.
Dead-Band Width(mV) | Shown for External Analog Input and ignores small input changes near zero. | Too small may be affected by noise; too large may ignore small commands.
Gain | Shown for External Analog Input. Sets the conversion from input voltage to command in `count/s/mV` for speed control or `mA/mV` for torque control. | Set according to the external analog range and target speed or permitted current range.

### RS485 Serial-Control Parameters

ModbusASCII
ModbusRTU

Parameter | Description | Recommendations
--- | --- | ---
Serial Communication | Sets the RS485 serial protocol to ModbusASCII or ModbusRTU. | Match the external master configuration.
RS485 Baudrate | Sets the RS485 communication rate. | Match the external master configuration.
Serial Port ID | Shown when ModbusRTU is selected. Sets the serial slave address. | Match the device address used by the external master.
Modbus Dis Time(ms): | Shown when ModbusRTU is selected. Sets the Modbus communication timeout. | Set according to the master's polling cycle and communication stability.

Control mode and control source determine which commands the drive accepts. If the device stops responding to eTuner or an external master, check the control source, operating mode, serial protocol, RS485 baud rate, and connection state.

## Troubleshooting

Symptom | Recommended Action
--- | ---
Invalid parameter or function call after applying | Check whether the motor is enabled, the firmware supports the parameter, and the model and configuration match.
Encoder reading direction does not match motion direction | Stop motion immediately and check encoder direction, mechanical installation direction, motion direction, and control mode.
Abnormal position after encoder reset | Do not run target motion. First verify motor-side and load-side readings, zero reference, and multi-turn settings.
No control after switching the control source | Check whether eTuner still controls the device or control has switched to an external master, EtherCAT, RS485, or another source.
RS485 communication fails | Check the serial protocol, RS485 baud rate, master configuration, cable, and termination.
Load may fall after brake release | Stop the operation and verify load support and field safety measures. Never use a software button as a substitute for mechanical support or a safety device.