A. Very simple machines often have only inputs and outputs or on/off control. More complex and accurate machines need some form of motion control as well as inputs, outputs. This ranges from simple velocity control to complex motion control i.e. Circular or elliptical interpolation.

Motion control is very important these days as machines become mechanically complex, however it is possible to have a simple wiring system. This is because modern controllers are very versatile and can support complex software. Most machines require some form of man machine interface, where the operator can at minimum enter data. Many modern machines require the operator to enter relatively complex data but good software can make the task of data entry quick and easy. The machine designer must always consider the operator first.

Generally TRM's installations are of the 'Closed Loop' kind. This means that the Controller gives a command to the drive to move the motor, the drive outputs the commanded voltage and the motor moves. As the motor moves the encoder on the motor shaft returns a series of pulses to the controller which the controller decodes into a position. Therefore if the controller asks for the motor to rotate 360' it would expect to see 4000 pulses back from a 1000ppr quadrature encoder. Once the correct amount of pulses have been received the controller stops the motor and holds position.