Abstract: The goal of this article is to present and discuss the main parts in designing a CNC embedded motion controller. Firstly, usable motor and drivers are discussed. Then usable control components are presented. About the software, the velocity motion profiles are presented and discussed. Regarding the multi-axis control, some interpolation methods are presented and compared. The practical architecture of the motion controller is discussed and some approaches are compared. In the last part, some fault-tolerant techniques suitable for the controller are discussed. A new approach of fault tolerant method is presented and discussed.
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