Ignoramus30064 wrote:
But how does the control tell the drive what speed to use, if the
drive is in torque mode?

I do not quite understand this.

The control has the velocity loop in software. It reads the encoder and
subtracts
new pos from last pos to compute velocity. Commanded velocity - actual
velocity
is the velocity error output, and is fed out as a torque command. This
is IDENTICAL
to what a velocity servo amp does (usually with op amps and resistors)
except it is
done by computation. The one place this falls down is if the machine is
moving slowly
enough that you get NO encoder counts in a servo period, then there is
no way to
calculate velocity.

Jon