ADLINK PCI-8102 - Manual (Page 50)

Operations 39
PCI-8102
4 Operations
This chapter describes the detail operation of the motion controller
card.
4.1 Classifications of Motion Controller
At the beginning of servo/stepper driver come to the world, people
start to talk about motion control widely instead of motor control.
They separate motor control into two layers: one is motor control
and the other is motion control. Motor control talks much about on
the PWM, power stage, closed loop, hall sensors, vector space,
and so on. Motion control talks much about on the speed profile
generating, trajectory following, multi-axes synchronization, and
coordinating.
4.1.1 Voltage Type Motion Control Interface
The interfaces between motion and motor control are changing
rapidly. From the early years, people use voltage signal as a com-
mand to motor controller. The amplitude of the signal means how
fast a motor rotating and the time duration of the voltage changes
means how fast a motor acceleration from one speed to the other
speed. Voltage signal as a command to motor driver is so called
“analog” type motion controller. It is much easier to integrate into
an analog circuit of motor controller but sometimes noise is a big
problem for this type of motion control. Besides, if people want to
do positioning control of a motor, the analog type motion controller
must have a feedback signal of position information and use a
closed loop control algorithm to make it possible. This increased
the complexity of motion control and not easy to use for a begin-
ner.
4.1.2 Pulse Type Motion Control Interface
The second interface of motion and motor control is pulses train
type. As a trend of digital world, pulse trains type represent a new
concept to motion control. The counts of pulses show how many
steps of a motor rotates and the frequency of pulses show how
fast a motor runs. The time duration of frequency changes repre-
sent the acceleration rate of a motor. Because of this interface,