A robotic catheter procedure system, comprising: a bedside system, the bedside system comprising: a percutaneous device; a drive mechanism configured to engage and to impart an axial force to the percutaneous device and to advance and retract the percutaneous device; and an actuator providing torque to the drive mechanism to impart the axial force to the percutaneous device, wherein the torque provided by the actuator is variable; and a remote workstation, the remote workstation comprising: a user interface configured to receive a first user input; and a control system operatively coupled to the user interface, the control system configured to communicate a control signal to the actuator, the control signal based upon the first user input and a second input, wherein the second input comprises information related the percutaneous device; wherein the actuator provides torque to the drive mechanism in response to the control signal; the control system having a high speed axial drive mode being selectable by a user with a third control element in which the maximum speed of the percutaneous device is greater than the maximum speed of the percutaneous device in a regular mode; the control system limiting availability of the high speed axial drive mode as a function of predetermined parameters related to the information from the second input. a bedside system, the bedside system comprising: a percutaneous device; a drive mechanism configured to engage and to impart an axial force to the percutaneous device and to advance and retract the percutaneous device; and an actuator providing torque to the drive mechanism to impart the axial force to the percutaneous device, wherein the torque provided by the actuator is variable; and a percutaneous device; a drive mechanism configured to engage and to impart an axial force to the percutaneous device and to advance and retract the percutaneous device; and an actuator providing torque to the drive mechanism to impart the axial force to the percutaneous device, wherein the torque provided by the actuator is variable; and a remote workstation, the remote workstation comprising: a user interface configured to receive a first user input; and a control system operatively coupled to the user interface, the control system configured to communicate a control signal to the actuator, the control signal based upon the first user input and a second input, wherein the second input comprises information related the percutaneous device; a user interface configured to receive a first user input; and a control system operatively coupled to the user interface, the control system configured to communicate a control signal to the actuator, the control signal based upon the first user input and a second input, wherein the second input comprises information related the percutaneous device; wherein the actuator provides torque to the drive mechanism in response to the control signal; the control system having a high speed axial drive mode being selectable by a user with a third control element in which the maximum speed of the percutaneous device is greater than the maximum speed of the percutaneous device in a regular mode; the control system limiting availability of the high speed axial drive mode as a function of predetermined parameters related to the information from the second input.