Command the Battle
In principle, battles proceed in real time, with the player controlling Zael and the other companions fighting of their own accord. However, use of "Command Mode" allows direct orders to be given to those companions, from casting magic to reaping the benefits of a Heal Circle. During Command Mode, the clock is stopped and you're given a bird's-eye view of the battle, allowing you to calmly strategize your next move.
Bear in mind that there are limitations placed on the use of Command Mode. It can only be used again after certain conditions are fulfilled.