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"An auxiliary verb is a verb that determines the mood, tense, voice, or aspect of another verb in a verb phrase."
Auxiliary Verb is also called Helping or Supporting Verb because it helps or supports to complete the meaning of main verb.
There are 31 Auxiliary Verbs ( 11 Auxiliary–Cum–Verbs and 20 pure Auxiliary Verbs. Out of this 31 Auxiliaries Have, Do and Be can be used as – 1. Auxiliary, 2. Auxiliary-cum-Verb and 3. Normal Verb). Twenty auxiliaries only support normal verbs, therefore, they are called Pure Auxiliary Verbs. They are also called Models or Model Auxiliary Verbs. Auxiliary verbs include be, do, and have along with modals such as can, might, and will and can be contrasted with main verbs and lexical verbs.
"Auxiliary-cum-verbs" are :
These 11 auxiliaries are also used as verbs, therefore, they are called Auxiliary–cum–verbs.
These are used to form Tenses. ( Please refer Tense Table).
"Pure Auxiliary verbs" are :
These 20 auxiliaries only support normal verbs, therefore, they are called Pure Auxiliary Verbs. They are also called Models or Model Auxiliary Verbs.