For each driving data record, 6 controller variations can be selected::

Output speed/ speed

This variable is the primary controlled variable.

Contouring error

This is an output speed/ speed control at which a programmable contouring error is monitored.  Upon exceeding a contouring error window, the contouring error signal is generated.

Torque/ Force

In this case, the present variable is the primary controlled variable.

Absolute position

Independent of the current position, the drive runs to the defined position.

Relative position

From the current position, the drive continues the travel by an indicated value.

Modulo position

The position setpoint is reached via the shortest path, i.e. the drive never performs more than half a rotation.