An AC servo driving system consists of three command forms such as pulsecommand, speed command and torque command.
交流伺服驱动动系统包括三种指令形式，即脉冲指令，速度指令，转矩指令。
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FPGA is used as interface between the DSP and the encoder, pulsecommand and power module. The latest intelligent power module (IPM) is used to provide the function of power stage.
Design requirements: (1) can output sawtooth, triangle wave, sine wave, pulse wave. (2) according to the keyboard command to switch between waveforms. (3) can adjust the output waveform frequency.