triangzd

Thank you, curtwilson. Maybe I didn't express clearly. For example, to compute the Motor 1 command output, the following error(FE) and the actual velocity(AVEL) of Motor 2 is necessary. Also, the Motor 1 FE and AVEL is necessary to Motor 2. That is the meaning of couple. How can I write the servo routine?

Now I want to use PPMAC for computed torque control of PKM(Parallel Kinematic Machine). So the inverse dynamic model must be written into the PPMAC through the User-Written Servo algorithm. The problem as following: 1. the command outputs of every motors are coupled. For example, to compute the output of Motor 1, the velocity of other motors are all necessary in the formula. It's not clear whether other motor's actual velocity can be used when computing the command output of Moter 1 in PPMAC, maybe it cannot in Turbo PMAC. 2.the command output of every motor can't be written in one formula. Can I write some formulas for every motor. For example: //motor 1 command output cmd1=... , //motor 2 command output cmd2=... , ... But return what? I'll look forward to your help. Thank you!