Hi,
if this is an analogue input servo amp then position,velocity or torque mode don't make
sense.
Analogue voltage (or current) input is amplified to an analogue output that is a voltage and
current, for a shaft output of speed and torque.
The servo is in position when the error between the step/dir command and the encoder feedback is zero,
this calculation/measurement is made by the controller, in this case the CSMIO.
Craig