Although analog controllers have many good features, some characteristics like offset, drift and hardwired design make to adopt digital controllers. Digital controllers give some good features like immunity to environment and flexibility to change control algorithms easily without changing hardware.
In this paper, full digital dc servo driver for 2 axes control is implented using DSP chip. And TDC(Time Delayed Control) algorithm is used to give robustness. Two kinds of test is accomplished, one is the motor level test, the other is to drive commercial SCARA robot.
As a result, the full digital dc servo driver is flexible, compact and useful for general purpose motor drive.
