Fig. 1. Architecture of the proposed closed-loop stepping motor drive
Fig. 2. Block diagram of the proposed closed-loop stepping motor drive
Fig. 3. Block diagram of interface between motor drive and RTE module.
Fig. 4. Developed closed-loop stepping motor drive
Fig. 5. Experiment environment for the developed motor drive.
Fig. 6. Experiment environment to measure cycle time
Fig. 7. Measured signals for EtherCAT and Mechatrolink III
Table 1. Proposed common motion interface
Table 2. Proposed common parameters
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