Position loop design method in multi axis motion controller using extended DDA circuit

The body of a motion controller comprises of command parser, trajectory planner, position loop and real time interpolator, pulse generator, and pulse distributor. This paper illustrated design method of a general motion controller using digital interface style. MCU make complex motion plans, the programmable digital hardware generates high frequency pulse trains. An extended DDA circuit is used to overcome the jitter problem that normal DDA has. General struct of pulse distribution table in the PDU make the design applicable to different kinds of motors. The coordination of software and extended DDA circuit forming the position loop and detailed design method is illustrated with derivation and graph. Interface scheme to different motor is also illustrated in this paper. Finally, a multi axis coordinated motion controller is designed using MCU and FPGA.