With this EtherCAT Opmode, the trajectory generator is located in the control device, not in the AKD drive. In cyclic synchronous manner, the EtherCAT master provides a target velocity to the drive, which performs velocity control and torque control. If desired, the position control loop may be closed over EtherCAT. Optionally, additive velocity and torque values may be provided by the control system in order to allow a second source for velocity and/or a torque feed forward. Measured by sensors, the drive device may provide actual values for position, velocity and torque to the control device.