Through the complete configuration of the software, the analog input of the driver can be used as the input of the TML program as a position, speed, torque or a user's specified motion reference input, or as a torque feedforward or torque restriction input. The analog feedback function can also be set up as a position, a speed motion variable, or as a user defined variable (such as pressure, flow, etc.). The programmable setting characteristics of the offset allow the analog amount to be set to a single polarity signal or a bipolar signal input.