Furthermore, this paper gives detailed discussions on the control system, hardware configuration and software design, and provides the PLC modular diagram and the program design flow chart.
对系统的控制功能、硬件配置和软件设计进行了讨论，提供了PLC模块配置图，给出了程序设计流程。
Again, on the foundation of hardware, the software used modular programming to achieve the speed and current double closed loop field oriented control.
再次，在硬件的基础上，软件采用模块化编程，实现了转速和电流双闭环磁场定向控制。
Modular structure is used in the system, real-time planning and control for 7-dof is implemented with real-time operating system software and high speed data communication interface.
该系统采用模块化结构，配有实时操作系统软件及高速数据通信接口，可以完成多自由度的实时规划与控制。
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