1. Introduction In recent years, with the continuous progress of the manufacturing industry, the requirements of modern manufacturing industry for precision, accuracy, high speed and automation are getting higher and higher. Most of the traditional motion controllers use 8051 series 8-bit microcontrollers. Although this microcontroller saves the development cycle, it lacks flexibility and has limited computing power, making it difficult to meet the requirements of high-demand operating equipment [1]. The data operation and processing functions of DSP are very powerful. Even in very complex control systems, its sampling period can be very small, and the control effect can be close to that of a continuous system. Combining the advantages of DSP and microcontroller will be the development trend of high-performance CNC systems. In view of the requirements of CNC systems, this paper develops a motion controller with TI's high-performance floating-point DSP and ATMEL's AT89C51 as the main control chip. It uses an embedded industrial PC as the basic platform, coordinates and exchanges data with the embedded industrial PC through the PCI interface, and uses the DSP high-speed motion control card as the core of fine interpolation and servo control to control the motion of permanent magnet synchronous motors, achieving good application results. 2. HANUC CNC2000 i system HANUC CNC2000 The system control block diagram is shown in Figure 1. The system mainly includes an embedded PC, an operation panel, a motion control module, a color display, an input/output module, a CNC keyboard, and a DNC module. To achieve high-speed, high-precision surface contour finishing, it is necessary to improve the interpretation and execution capabilities of micro-segment contours and the servo drive characteristics. To ensure continuous processing of part program transmission, interpolation, acceleration and deceleration control, etc., the CNC should have sufficiently high data processing capabilities. However, ordinary PCs have disadvantages such as large size, high power consumption, and poor reliability in industrial field control. Based on this situation, the embedded industrial microcomputer—PC104 bus module—has emerged. [align=center] Figure 1 Block diagram of HANUC CNC2000i CNC system[/align] The embedded PC of this system uses an Intel 80486 processor with a built-in 32M cache and an MS-DOS operating system. Compared with traditional industrial PCs, its 32M cache ensures the speed and accuracy of CNC system machining. Because the data segments in the buffer are directly associated with the subsequent decoding program during processing, the larger the buffer capacity, the more programs it stores, and the faster it executes. It also allows for small-segment interpolation, fully ensuring processing accuracy. The connected DNC module can communicate with the host computer via an RS232 interface, giving the entire system good openness. The motion control module is the core of this system. It uses an intelligent power module as the switching device and a TMSLF2407 + AT89C51 as the hardware control core, employing a space vector control method. It sends control commands to the servo amplifier, which then sends instructions to control the AC permanent magnet servo motor. The encoder returns the actual working status to the motion control module through the servo amplifier. This closed-loop control mode fully ensures processing accuracy. Positive and negative limit switches prevent dangerous accidents such as "runaway" or loss of control. The structure of the AC servo drive system is shown in Figure 2. [align=center] Figure 2 AC Servo Drive System Structure Diagram[/align] The TMSLF2407 is used to implement current loop, speed loop, SVP2WM signal generation, fault detection, protection, signal processing, and real-time vector control and closed-loop control. A microcontroller handles management tasks with lower real-time requirements, such as I/O interface management, keyboard processing, display, and serial communication. The FPGA is used for data exchange between the AT89C51 and the DSP. The system supports analog speed input, digital speed input, pulse input, and control via a host computer. 3. Space Vector Pulse Width Modulation Principle In fully digital AC servo drive systems, digital pulse width modulation (PWM) is typically used instead of traditional analog PWM. Among various PWM techniques, space vector is an optimized PWM technology that significantly reduces harmonic components of the inverter output current and motor harmonic losses, reduces pulsating torque, and offers simple control, convenient digital implementation, and high voltage utilization. It is trending towards replacing traditional SPWM. In this paper, Tk... Tk and Tk+1 are the conduction times of the inverter in two adjacent operating states Vsk and Vsk+1, respectively. It is expressed as the 0 state time in a complete modulation cycle Ts, except for the conduction time of Tk and Tk+1. The 0 state time T0 is expressed by the equation T0 = T7 + T8 = Ts - Tk - Tk+1 (2) Since the 0 state exists in every region, it generally occurs at the beginning and end of each modulation cycle. The total 0 state time is generally divided into two identical 0 state times, namely T7 = T8 = T0/2 (3) so as to obtain a symmetrical space vector pulse width modulation signal. According to equations (1) to (3), the inverter switching signal with bilateral space vector pulse width modulation in the sector of 0 < θ < π/3 can be obtained, as shown in Figure 3. A similar method can be used to calculate the switching time of a three-phase inverter with bilateral space vector pulse width modulation of the voltage reference signal V*Sref in other 5 regions, as shown in Table 1. [align=center] Figure 5 Subroutine flowchart of the data processing module[/align] 5 Experimental Study The servo system is the link between the CNC device and the machine tool. The performance of the servo system largely determines the performance of the CNC machine tool. This paper presents an experimental study on a HANUC CNC2000 i system, and gives the servo performance waveform of one axis. Figures 8 and 9 show the performance waveforms of the X-axis AC servo system in the machining program of the CNC2000 i system. The five channels are: speed command n (unit: r/min), feedback speed n (unit: r/min), torque graphic error e (%), zero deviation U (unit: V), and positioning completion signal S (unit: V). The measured waveforms show that the servo system has good position tracking performance and accurate positioning control precision. [align=center] Figure 6 Bus Control Module Flowchart[/align] [align=center] Figure 7 Parameter Management Module Flowchart[/align] [align=center] [/align] 6 Conclusion By using a microcontroller and DSP in combination, the system's computational and real-time processing capabilities are greatly enhanced. It can adapt to multi-axis, high-speed, and high-precision CNC systems, achieving functions that are difficult to achieve with a single-processor system. Compared to a single processor completing all tasks, this method allows for shorter interpolation cycles and achieves higher feed and servo control precision. Experiments have shown that the servo motion controller has fast reverse speed, short positioning time, constant torque, and good linear speed regulation characteristics and dynamic performance.