What is erg mode and where can I find it?

I recently purchased a TACX Flux Smart T2900S and have biked a few sessions now. In one of those rides Zwift talks about erg-mode. Can somebody tell me what this is and where I can turn it off or on?

Shane Miler has a good explanation of what it is. Indoor Cycling Smart Trainers: ERG Mode Explained - YouTube

Zwift also has a post about it: The What and Why of ERG Mode | Zwift

David provided good links. I would just add that erg mode is only available during a structured workout. You can’t use it while free-riding or in group social rides or races. It is available during group workouts.

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