Abstract: A motion controller, which is adaptable to a variety of different motors, provides motor control signals to the motors of a multi-axis coordinated system as a function of position and velocity commands from a host computer. The motion controller configures the motor control signals to be compatible to the particular motors being driven based upon motor identification instructions from the host computer.

Abstract: A drive circuit for a brushless motor utilizing both phase shift and current shaping to provide for efficient operation of a brushless motor in a servo control system. The circuit includes circuitry for altering the phase of the drive signal as a function of motor velocity to compensate for increased current phase lag due to inductance of the motor at high commutation frequencies corresponding to high motor velocities. In addition to altering the phase shift of the drive signal, the circuitry also alters the commutation signal waveform to compensate for a non-sinusoidal field distribution to produce a nearly sinusoidal torque from each of the brushless motor windings. The compensation of both phase shift and commutation signal waveform is accomplished using digital circuitry. The phase commutation is a non-linear function of motor velocity. The waveform compensation is selected to compensate for a trapezoidal magnetic field distribution in the motor air gap.