What mode to run servo drives in with dspMC/IP

[wyo123]

Hello,
I have retrofitted a couple of machines and have allways let the servo drive do the posistion loop.
I like AB ultra 3000's and they have an encoder output, so wiring it will not be a problem to the dspMC.
What control works best when the dspMC is doing the posistion? Do I run my drives in velocity mode? and I dont think I am exactly sure what velocity mode is, But my drives will do it.
Thanks

[TOTALLYRC]

I am using torque mode and it is working well for me.
If your drives and motors are set up to do velocity mode, then there is supposed to be some improvement in low speed performance.
To be able to do velocity mode your motors must have a tach and the drives must have tach inputs.

Mike