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There are several types of SERVO DRIVES, with a common one being the torque-mode amplifier. It converts the command signal from the controller into a specific amount of current to the motor. Since current is directly proportional to torque, the drive is controlling the amount of torque that the motor produces. (In a linear motor, where current is proportional to force, the drive is directly controlling the force output of the motor.) – motioncontroltips