Operation Theory 41
4 Operation Theory
This chapter describes the detail operation of the motion controller
card. Contents of the following sections are as follows:
Section 4.1 Classifications of Motion Controller
Section 4.2 Motion Control Modes
Section 4.3 Motor Driver Interface
Section 4.4 Mechanical Switch Interface
Section 4.5 Counters
Section 4.6 Comparaters
Section 4.7 Other Motion Functions
Section 4.8 Interrupt Control
Section 4.9 Multiple Card Operation
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 singal 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 eaiser 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
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