In AFM, feedback loops control the operation of the microscope by keeping a fixed value a parameter of the tip's oscillation. If the main feedback loop operates with the amplitude, the AFM mode is called amplitude modulation (AM). If it operates with the frequency shift, the AFM mode is called frequency modulation (FM). Bimodal AFM might be operated with several feedback loops. This gives rise to a variety of bimodal configurations. The configurations are termed AM-open loop, AM-FM, FM-FM. For example, bimodal AM-FM means that the first mode is operated with an amplitude modulation loop while the 2nd mode is operated with a frequency modulation loop. The configurations might not be equivalent in terms of sensitivity, signal-to-noise ratio or complexity.
Let's consider the AM-FM configuration. The first mode is excited to reach free amplitude (no interaction) and the changes of its amplitude and phase shift are tracked by a lock-in amplifier. The main feedback loop keeps constant the amplitude, at a certain set-point  by modifying the tip vertical position (AM). In a nanomechanical mapping experiment,  must be kept below 90°, i.e., the AFM is operated in the repulsive regime. At the same time, an FM loop acts on the second eigenmode. A phase-lock-loop regulates the excitation frequency  by keeping the phase shift of the second mode at 90°. An additional feedback loop might be used to maintain the amplitude  constant.