Hello, I am very good at stepper knowledge but I know nothing about servos.

Can you explain what are these modes for? Position, Speed/Velocity, Torque modes?

When are they used?

How are they related to tuning?

Some servo motors have only one mode, position mode. Some have all of them.

When are they applied?

Can you guys give an example of when these modes are applied?

Thank you in advance for all your replies!

Thanks a zillion times!