<s>
Motion	B-Algorithm
control	I-Algorithm
is	O
a	O
sub-field	O
of	O
automation	B-Application
,	O
encompassing	O
the	O
systems	O
or	O
sub-systems	O
involved	O
in	O
moving	O
parts	O
of	O
machines	O
in	O
a	O
controlled	O
manner	O
.	O
</s>
<s>
Motion	B-Algorithm
control	I-Algorithm
systems	I-Algorithm
are	O
extensively	O
used	O
in	O
a	O
variety	O
of	O
fields	O
for	O
automation	B-Application
purposes	O
,	O
including	O
precision	O
engineering	O
,	O
micromanufacturing	O
,	O
biotechnology	O
,	O
and	O
nanotechnology	O
.	O
</s>
<s>
The	O
main	O
components	O
involved	O
typically	O
include	O
a	O
motion	O
controller	O
,	O
an	O
energy	O
amplifier	O
,	O
and	O
one	O
or	O
more	O
prime	O
movers	O
or	O
actuators	B-Algorithm
.	O
</s>
<s>
Motion	B-Algorithm
control	I-Algorithm
may	O
be	O
open	O
loop	O
or	O
closed	O
loop	O
.	O
</s>
<s>
In	O
open	O
loop	O
systems	O
,	O
the	O
controller	O
sends	O
a	O
command	O
through	O
the	O
amplifier	O
to	O
the	O
prime	O
mover	O
or	O
actuator	B-Algorithm
,	O
and	O
does	O
not	O
know	O
if	O
the	O
desired	O
motion	O
was	O
actually	O
achieved	O
.	O
</s>
<s>
Typical	O
systems	O
include	O
stepper	B-Algorithm
motor	I-Algorithm
or	O
fan	O
control	O
.	O
</s>
<s>
Typically	O
the	O
position	O
or	O
velocity	O
of	O
machines	O
are	O
controlled	O
using	O
some	O
type	O
of	O
device	O
such	O
as	O
a	O
hydraulic	O
pump	O
,	O
linear	B-Algorithm
actuator	I-Algorithm
,	O
or	O
electric	O
motor	O
,	O
generally	O
a	O
servo	O
.	O
</s>
<s>
Motion	B-Algorithm
control	I-Algorithm
is	O
an	O
important	O
part	O
of	O
robotics	O
and	O
CNC	O
machine	O
tools	O
,	O
however	O
in	O
these	O
instances	O
it	O
is	O
more	O
complex	O
than	O
when	O
used	O
with	O
specialized	O
machines	O
,	O
where	O
the	O
kinematics	O
are	O
usually	O
simpler	O
.	O
</s>
<s>
The	O
latter	O
is	O
often	O
called	O
General	B-Algorithm
Motion	I-Algorithm
Control	I-Algorithm
(	O
GMC	O
)	O
.	O
</s>
<s>
Motion	B-Algorithm
control	I-Algorithm
is	O
widely	O
used	O
in	O
the	O
packaging	O
,	O
printing	O
,	O
textile	O
,	O
semiconductor	B-Architecture
production	I-Architecture
,	O
and	O
assembly	O
industries	O
.	O
</s>
<s>
Motion	B-Algorithm
Control	I-Algorithm
encompasses	O
every	O
technology	O
related	O
to	O
the	O
movement	O
of	O
objects	O
.	O
</s>
<s>
It	O
covers	O
every	O
motion	O
system	O
from	O
micro-sized	O
systems	O
such	O
as	O
silicon-type	O
micro	O
induction	O
actuators	B-Algorithm
to	O
micro-siml	O
systems	O
such	O
as	O
a	O
space	O
platform	O
.	O
</s>
<s>
But	O
,	O
these	O
days	O
,	O
the	O
focus	O
of	O
motion	B-Algorithm
control	I-Algorithm
is	O
the	O
special	O
control	O
technology	O
of	O
motion	O
systems	O
with	O
electric	O
actuators	B-Algorithm
such	O
as	O
dc/ac	O
servo	O
motors	O
.	O
</s>
<s>
Control	O
of	O
robotic	O
manipulators	O
is	O
also	O
included	O
in	O
the	O
field	O
of	O
motion	B-Algorithm
control	I-Algorithm
because	O
most	O
of	O
robotic	O
manipulators	O
are	O
driven	O
by	O
electrical	O
servo	O
motors	O
and	O
the	O
key	O
objective	O
is	O
the	O
control	O
of	O
motion	O
.	O
</s>
<s>
The	O
basic	O
architecture	O
of	O
a	O
motion	B-Algorithm
control	I-Algorithm
system	I-Algorithm
contains	O
:	O
</s>
<s>
A	O
motion	O
controller	O
,	O
which	O
calculates	O
and	O
controls	O
the	O
mechanical	O
trajectories	O
(	O
motion	O
profile	O
)	O
an	O
actuator	B-Algorithm
must	O
follow	O
(	O
i.e.	O
,	O
motion	O
planning	O
)	O
and	O
,	O
in	O
closed	O
loop	O
systems	O
,	O
employs	O
feedback	O
to	O
make	O
control	O
corrections	O
and	O
thus	O
implement	O
closed-loop	O
control	O
.	O
</s>
<s>
A	O
drive	O
or	O
amplifier	O
to	O
transform	O
the	O
control	O
signal	O
from	O
the	O
motion	O
controller	O
into	O
energy	O
that	O
is	O
presented	O
to	O
the	O
actuator	B-Algorithm
.	O
</s>
<s>
A	O
prime	O
mover	O
or	O
actuator	B-Algorithm
such	O
as	O
a	O
hydraulic	O
pump	O
,	O
pneumatic	O
cylinder	O
,	O
linear	B-Algorithm
actuator	I-Algorithm
,	O
or	O
electric	O
motor	O
for	O
output	O
motion	O
.	O
</s>
<s>
In	O
closed	O
loop	O
systems	O
,	O
one	O
or	O
more	O
feedback	O
sensors	O
such	O
as	O
absolute	O
and	O
incremental	B-Algorithm
encoders	I-Algorithm
,	O
resolvers	B-Algorithm
or	O
Hall	O
effect	O
devices	O
to	O
return	O
the	O
position	O
or	O
velocity	O
of	O
the	O
actuator	B-Algorithm
to	O
the	O
motion	O
controller	O
in	O
order	O
to	O
close	O
the	O
position	O
or	O
velocity	O
control	O
loops	O
.	O
</s>
<s>
Mechanical	O
components	O
to	O
transform	O
the	O
motion	O
of	O
the	O
actuator	B-Algorithm
into	O
the	O
desired	O
motion	O
,	O
including	O
:	O
gears	O
,	O
shafting	O
,	O
ball	B-Algorithm
screw	I-Algorithm
,	O
belts	O
,	O
linkages	O
,	O
and	O
linear	O
and	O
rotational	O
bearings	O
.	O
</s>
<s>
Historically	O
the	O
only	O
open	O
interface	O
was	O
an	O
analog	O
signal	O
,	O
until	O
open	O
interfaces	O
were	O
developed	O
that	O
satisfied	O
the	O
requirements	O
of	O
coordinated	O
motion	B-Algorithm
control	I-Algorithm
,	O
the	O
first	O
being	O
SERCOS	B-Protocol
in	O
1991	O
which	O
is	O
now	O
enhanced	O
to	O
SERCOS	B-Protocol
III	I-Protocol
.	O
</s>
<s>
Later	O
interfaces	O
capable	O
of	O
motion	B-Algorithm
control	I-Algorithm
include	O
Ethernet/IP	B-Protocol
,	O
Profinet	B-Protocol
IRT	I-Protocol
,	O
Ethernet	B-Protocol
Powerlink	I-Protocol
,	O
and	O
EtherCAT	B-Protocol
.	O
</s>
