Chapter 5 Fundamental

principle of CNC system

School of Mechanical Engineering

Jiangnan University

Teaching Focus

Hardware system of CNC

Software system of CNC

Section 1 Summary
Section 2 Data processing of CNC
Section 3 Software System of CNC
Section 4 Hardware System of CNC
Section 5 Examples of typical
CNC system

5.1 Summary
5.1.1 Composition of the CNC system

Program

Input
Device

PC

Spindle
Control
Unit

CNC

Spindle
Motor
machine
tool

Device
Output
Device

Speed
Control
Unit

Feed
Motor
Location
Detector

5.1.2 Structure of CNC device

(1) The general hardware architecture of CNC device
Basic System of computer

support
support layer
layer
of
of Device
Device
Man-Machine Control

Input/Outpu
Input/Outpu
tt Device
Device
Other
Other
Devices
Devices

motion control

interface

Display
Display
Device
Device

PLC
Other I/O

Device
Device
Layer
Layer
Machine
Machine
Tool
Tool
Robots
Robots
Measuring
Measuring
Machine
Machine

CNC device hardware

components

EPROM

RAM

IN
Interface

OUT
Interface

CPU
Bus
PaperTape
Reader

MDI/
CRT
Interface

Location
Control

Other
Interface

(2) Software functional structures of CNC device

Operating Systems

control software
Management Software

Compile Processing

Cutter Compensation

Speed processing

Interpolation

Part OS

Display processing

Human-Computer Interaction

Input and Output Management

(3) The role and relationship of CNC hardware, software

Hardware and Software constitute a CNC device platform
CNC Machining System

developments
according to
user Requires
Applied
Control
Software
Software
CNC
Management process
OS
Hardware

Interface

device being
controlled
Machine tool
Robots
Measuring
Machine

The platform consists of the following two aspects

of the meaning :
Equipped with the basic configuration, The platform
offers CNC with the must-have features.

The platform is based on users

users requirements with
function designing and planning.

Constructing method of CNC platform is equal to the

architecture of CNC.

Functions of CNC device

3Functions

basic
functions

FS

Functions of the basic configuration ,CNC, namely

the must-have features
Users can select the functions according
to requirements

4. Characteristics of CNC
Great flexibility
As
Aslong
longas
asthe
thechanges
changesin
insystem
systemsoftware,
software,you
youcan
canchange
changeand
and
expand
expandits
itscapabilities
capabilitiesto
toadd
addnew
newtechnologies,
technologies,extend
extendthe
theperiod
period
of
ofusing
usingthe
thehardware
hardwarestructure.
structure.

International dimensions
Hardware
Hardwarewith
withmany
manygeneral-purpose
general-purposemodular
modularstructure,
structure, easy
easy
to
toexpand.
expand.

Achievements of complex functions

Features
FeaturesSuch
Suchas
ashigh-order
high-ordercurve
curveinterpolation,
interpolation,dynamic
dynamicand
and
static
staticgraphic
graphicdisplay.
display.

 High reliability
Many
Manyof
ofthe
thefeatures
featuresare
arefrom
fromthe
thesoftware,the
software,thehardware
hardware
structure
structureisisgreatly
greatlysimplified
simplified,Be
,Bewith
withlarge
largeand
andimperial
imperial
universal
universal integrated
integratedcircuit
circuitcard
card&
&asic
specificintegrated
integrated
asic specific
circuit(UICC&ASIC
)). .
circuit(UICC&ASIC)
circuit(UICC&ASIC
circuit(UICC&ASIC)

Be easy to use and maintain

CNC
CNCdiagnostic
diagnosticprocedures
proceduresmake
makeititvery
veryconvenient
convenientto
to
maintain.
maintain.

Be easy to implement mechatronics

Development
Developmentof
ofsemiconductor
semiconductorintegrated
integratedcircuits
circuitstechnology
technology
and
andadoption
adoptionof
ofadvanced
advancedmanufacture
manufactureand
andinstallation
installationmake
make
great
greatreduce
reduceof
ofthe
thesize
sizeof
ofCNC
CNCdevice.
device.

K9M

K9M1

K9M

K9T

Typical CNC systems

5Typical
Allen Bradly company , U.S, produced 7360 System in
the mid-70s of this century ,is the world's first CNC
announced in 1971.
systems announced

The world
worlds leading manufacturer of control systemsFujitong ,produced System 7 by Fanuc in the mid70s,including 7T & 7M.

Produced by Well-known U.S. aircraft manufacturing

company-McDonnell Douglas Corporation , Actrion is A
typical distributed micro-computer NC system.

5.2 Data processing of CNC

5.2.1 Input of CNC
CNC input mainly refers to the input of the
processing of components.
Reader
keyboard

storage

Insert Delete amend

No band
operation
punch out

CNC device's data conversion process as shown in

Figure
cutter
compensation
buffer area

operating
buffer
area

Position
feedback

Servo drive

Position processing

cutter compensation processing

handling

Speed preconditioning

Interpolation

CODE

Processing programme
code
buffer
area

Interpolati
-on buffer
area

PLC
Control

Date storage
Paper tape
part program

Part program
Buffer

Part program
Storage

Part program
Buffer

Code

Date acquisition
Part program
Storage

The usual way of work of CNC System is storage working

mode . Keyboard commands call specified part program
from the part program storage. When working it allows to
use keyboard amending the program

Reader

Part program
Storage

MDI
Keyboard

Part program
Buffer

MDI Buffer

Code

5.2.2 Date processing of CNC

5.2.2

purpose Preparation before running the interpolation

interpolation.
content

motion trail calculation

Decoding
Decodingmotion
calculation
calculation of F value.

Part program for each program segment has experienced the

process
Part
Results of
Program Decoding decoding Date process
Buffer process
storage
program
area

Results of
Interpolation
date
sending
work
Buffer
storage
area

Decoding
Conception

Translating the standard of NC code into the form can be

identified by this system.
Such as: N042 G01X40 Y20 F80
F80
Task

Identification code , Translated into the form of data

which has a specific meaning, and deposited the
corresponding unit.
Get recognition Translating
Process
date
separately storage
date

5.2.3 Management procedures and diagnostic

5.2.3
procedures

Management procedures
1Management
Management program is mainly for the management of
CNC system functions and components of the CNC
machining process .
workflows

Initialization, accept orders, carry out orders ,

return to standby.

CNC capability

Editing, automatic, running open, singlestage, manual 1, manual 2, manual 3.

2 Diagnostic procedures
1 Diagnose while running
1
Diagnostic procedures are usually included in the part of master
procedures, interrupt handling procedures. Interfaces, servo
systems and machine tools are included in the software of
corresponding part of the CNC device.
1. Check the internal storage with the code.
2. Format Check.
3. Two-way transmission of data test.
4. Voltage, temperature, speed, etc. Analog Monitor.

2 Shutdown diagnostics
2
When the system failure or before system being into

Concept

operation ,the use of diagnostic procedures for diagnosis

is called shutdown diagnostics.

Commercialization of CNC devices are mostly

equipped with a self-diagnostic program .
On diagnosing
diagnostic procedures is coming into
diagnosingdiagnostic

Concept

operation, if CNC system is fault-free, continuous inspection

procedures and non-stop. while finding fault, shut down, find
fault address from the stop address.

Self-diagnostic program includes

includes
Internal storage inspection procedures, logic inspection
procedures , arithmetic inspection procedures, interface,
peripheral inspection procedures, position control test
procedures, and power-down processing inspection procedures.
You can also set up an independent diagnostic procedures
for the interface circuit, which is to make the interface and
peripheral devices separated .And appropriately connect
the input lines of interface with certain output lines of
another interface to carry out the information transmission
and inspection.

3 Communication diagnostics
3

Users' CNC systems communicate the diagnostic center via

telephone line,

diagnostic procedures are issued by the Diagnostic Center,

indicating some

sort of CNC operation, meanwhile , collecting data, analysis

system state.

5.3 software architecture of

CNC
5.3.1 summary
CNC is a real-time computer control system.
Basic function of CNC is to be achieved by a variety of
functional subroutines.
Characteristics

Software

Position
Control

Interpolation

Interpolate

Preparation

Input

Hardware

Medium

first-class

1. Hardware and software interface of CNC system.

Hardware

Motor

Speed
Control

Hardware

Position
Control

Interpolation

Interpolate

Preparation

Input

Medium

Measure

Second-class
Software

hardware

Third-class
Hardware

Software

Hardware

2. Content and structure type of system software

Fore-background structure
structure of interrupt mode

3. Multi-task parallel processing

Input
Decoding

Display

Position
Control

cutter
Compensation

Speed
process
Interpolation

I/O

Interpolation

Position
Control

Parallel processing of time-sharing of resources

Interpolation

Display

Diagnosis

Interpolate
Preparation

I/O
process

Input

Position
Control

Keyboard

Interrupt Priority from high to low

Initialization

5.3.2 Software Architecture of Front and

5.3.2
Back
Overview
Foreground program (Real-time interrupt service routine)
Foreground

Effect
Effect

undertaking almost all the realCore of the system undertaking

time functionality

Such as Interpolation operations, position control and

fault diagnosis

Daemon (Background process )

Daemon

Effect
Effect

Completing interpolation before the preparatory work

and scheduling management

Such as show
Interpolation Pretreatment Program
Program
showInterpolation

Edit

The relationship between the font and

back running as shown in Figure
Suspension of
execution

Background process
Decoding
Fill handle knife
Speed preconditioning
Input / Output
Show
Suspension of
execution .
.

Foreground program
Interpolation
operations
position control
fault diagnosis
.
.

Loop
performing

Scheduling management
functions of Daemon

Program segment through the input decoding, data processing, post -

has entered the ready-shaped State waiting
waiting for interpolation to
Background program has a data segment execution procedures the
the
implementation of specific management data segment

Two kinds of data processing of information transmission are as shown

in figure
figure
Interpolation with
information
Data processing result buffer
Data Processing
Program

Ancillary
information
System works register

Functions of the program data segment Implementation :

The data processing results in the interpolation buffer with the
information is sent to the interpolation buffer And
And the work of the
ancillary information in the system registers is sent to the Systems logo
After the completion of the two kinds of transmission
Unit After
Background process has set up two signs

Mark
Markthe
theend
endof
ofdata
datasegment
segment
transmission
transmission
Open
Openinterpolation
interpolationflag
flag
In a break cycle, real-time interrupt procedures for interpolation and
Servo output, the background process to the next section of the data
processing.

5.3.3 Interrupt-based software architecture

5.3.3
What is interrupt-based software architecture ?
1What
In
additionto
toinitialization
initializationprocedures,
procedures,the
theentire
entire
Inaddition
control
controlprogram
programisisdivided
dividedinto
intoaanumber
numberof
ofdifferent
different
levels
levelsof
ofinterrupt
interruptservice
serviceroutine.
routine.All
Allthe
thevarious
various
functions
functionswere
wereorganized
organizedinto
intolevels
levelsof
ofdifferent
differentroutines
routines
interrupt
interruptprocedures,
procedures,management
managementfunctions
functionsprimarily
primarily
through
throughthe
theinterruption
interruptionof
ofprograms
programsat
atall
alllevels
levels
between
thecommunicating
communicatingwith
witheach
eachother
otherto
toresolve.
resolve.
betweenthe
2 Features of interrupt-based software architecture
good
goodreal-time,
real-time,but
butthe
therelationship
relationshipbetween
between
module
modulecomplexity,
complexity,coupling
couplingdegree
degree

The model of software architecture shown in Figure:

Initialization

Interrupt management system (software + hardware)

Interrupt program
n Services

Interrupt program
2 Services

Interrupt program
1 Services

0 Service

Interrupt program

the type of disruption about CNC system

3the
1) External Interrupt
Reader interrupt and external control interrupt
Input Interrupt of Keyboard control panel
2) Internal timer interrupt

Interpolation cycle timer

interrupt
Position sampling timer
interrupts

3) Hardware failure interruption: issue interrupts of a variety

of hardware fault detection system
4) Procedural interrupt: process alarm interrupt of unusual
circumstances.

5.3.4 Software architecture based on real5.3.4

time operating system
Function

In addition to general-purpose operating system functions,

also has the task management, A variety of real-time task
scheduling mechanism, the communication mechanism
between tasks and so on.
Benefits

1) Weaken the coupling between functional modules

2) The system open and good maintainability
3) To reduce the workload of system development

5.3.5 Introduction to Huazhong CNC

5.3.5
system software
Huazhong NC system software intergrated Industrial
PC and DOS operating system as hardware and software
support environment. The underlying motion controls
software is openning to provide a secondary development
environment. Numerical control system can be flexible for
different configurations and uses.
The process layer of software that Taiwan-based software
architecture with Foreground and background process By
NCBIOS separated it with the underlying software, making
the process does not depend on the hardware layer.

Position Control
MS-DOS
I / O Control
RTM
PLC

NCBIOS

sDI Direct interpolation

module surface

Underlying software
process layer software
Process Control Software

Edit the
Program

Preferences

Position
display

PLC
Management

Fault Display

5.4

CNC hardware system

5.4.1 CNC hardware structure

5.4.1
1) According to the hardware manufacturing side
a.
b.

Dedicated CNC device

PC-type CNC System

2) According to the amount of sub CPU

a. Stand-alone system
b. Multi-computer system

The block diagram of the Stand-alone system

CPU

Bus
EPROM

CMOS
ROM

RS232

Control
Media

I/O
Interface

Machine

CRT
Interface

Control
Panel

PC
control

CRT

Position
Control

Speed
Control
Unit

Multi-machine system structure

Management Module

I / O Interface

Memory

Accessibility

CNC multi-machine system in parallel data bus system

CPU | Input | Output

PLC

CNC interpolation |
Position Control
Module | Module
Geometry

Other peripherals

Other
Function

3) Function module of single or master-slave

structure
What is a modular design method ?
Control system will be divided by function into a number of
kinds of functional units with separate modules.
Each module coupled with the appropriate driver software,
according to functional requirements to select a different
function modules, and insert it into the control unit on the
motherboard to form a complete control system.
Modular design conditions:
Bus (BUS) Standardization

the CNC device

hardware structure for
Single or master-slave

Control Panel

PLC Module

Computer Motherboard

Spindle control module

System bus (BUS)

Computer
I/O
devices

Card

Machine I/O

Position control block 1

Speed Control Unit one

Position control block n

Speed Control Unit n

Position control block 1

Function-driven one

Position control block n

Function-driven n

Multi-function Card

Flash Disk

4) the hardware device description of

CNC multi-master structure
RAM/EPROM

EPROM

Keyboard

Character
Generators

RAM512

Show CPU

CTRC

CRT

512RAM

Central CPU

Interpolation
CPU

Parallel
Interface

Analog Output

EPROM

Serial and
Transceiver

Feedback pulse
And processing

Machine
Interface

Feedback signal
Transceiver

 5.4.2 I / O interface and communications

Overview

(1) I / O interface

I / O interface is a CNC system which is an indispensable means of

exchanging information with the outside world, different input and
output device connecting with the CNC system, using its corresponding I /
O interface circuit and the interface chip.

Input interface
accepting the signals of machine operator panel button and accepting
signals of a variety of limit switch.

Output Interface
sending a variety of working conditions light information to the machine
operator panel , to control the machine movement signal to strong electric
box.

Categories:
Analog I / O

Digital I / O
Industrial I / O

Peripheral Controller

(2) Communication Interface

Role: mainly used between the CPU and peripherals, systems and
between systems communicate with each other.

Communication
Communicationinterface
interfaceboard
boardinterface
interfaceusing
using
standard
standardinterface
interface
Such as: parallel interface IEEE-488, serial

interface RS-232C

 5.4.3 CNC and PLC

1. CNC strong electrical logic control
It is a control system among NC devices ,machine tools with
numerical control machine and the hydraulic components.

Receiving
Receivingthe
theoutput
outputsignal
signalfrom
fromthe
themain
mainmovement
movementspeed,
speed,etc.
etc.
of
ofNC
NCdevice,
device,after
afterthe
thenecessary
necessarycompilation,
compilation,logical
logicaljudgments,
judgments,
directly
directlydrive
drivethe
thecorresponding
correspondingamplified
amplifiedelectrical,
electrical,hydraulic,
hydraulic,
pneumatic
pneumaticand
andmechanical
mechanicalcomponents,
components,in
inorder
orderto
tocomplete
completethe
the
actions
actionsrequired
requiredinstruction.
instruction.

2. Programmable Logic Controller PLC

The emergence of solid-state logic of electronic devices improves the

system stability, response speed, power consumption, long life, but still
belongs to the hard-line.

In 1969 the United States

States Digital Equipment Corporation developed a

PDP-14-PLC devices, filling the relay between logic and micro-processing

zone .

As the micro-computer application and development, it has opened up

broad prospects for logic control, a new generation of microprocessor-based

PLC, not only had a tremendous impact on the traditional digital domain
and gave the generated power to the entire computer-aided manufacturing.

The composition of the PLC

1. PLC Microprocessor
2. I / O subsystem

Classification of PLC
1.

Built-based PLC

2.

PLC-independent

Development and Application of PLC

PLC First used in the automotive industry, as applied to logic control,

and soon be applied to CNC machine tools, the variety of dramatic increase
in, capabilities stronger.

Year 1973 saw the second generation of PLC, the price can match with the

relay, add, subtract, multiply and divide function is an increase in the

function.

TEXAS company
companys TI-510 memory capacity is only 0.5K, enter 126

points, 8 output, timer / counter A total of 16.

United States AB's PLC-3 capacity is 96K, word length 16-bit, I / O,
respectively 4096/4096 points, timer / counter -- a total of 32768, 68

instructions, but also has the PID function .

PC-Status and direction of development

High-performance CPU

The field of
process control

Engineering
Field

The field of
mechanical control

Engineering
Field

Intelligent
man-machine interface
CAM / CAD

Networking
Field

Systematic
network

5.4.4 CNC device display module

5.4.4
1.

Computer graphics display

Computer graphics display is divided into three
types from the display device to display the contents
of the talk :
Text display
aasimple
,,numbers
text,
simplegraph
graphmade
madeup
upby
bytext
text
numbersand
and
text,
simple
simplecharacter
characterpiece
piecetogether
together

Graphics
Can
Candisplay
displayaavariety
varietyof
oflines
linesand
andvarious
varioustypes
types
of
ofgraphics
graphics

Situation Display
AAwider
widerrange
rangeof
ofaadisplay,
display,character
characterand
andaavariety
variety
of
oflines,
lines,graphics,
graphics,together
togetherwith
withsome
somebackground
background
information
informationon
onthe
thedisplay.
display.

2. the CRT display of CNC

Belongs to the text display, CNC control structure of the CRT display
is a minicomputer or a microcomputer stored in memory by the display
program and files. CRT system contains with buffer memory and display
controller. Also has display microcomputer inside the zone, and become
a smart client.

The structure of CNC display shown in Figure 1.

Principles of CRT display about CNC :

Buffer

CNC
computer

Interface

Display
Controller

CRT

CRT System

5.5

A typical example of CNC system

5.5.1 7360 System

7360
7360system
systemproduced
producedby
byU.S.
U.S.Allen-Bradley
Allen-Bradley
companies
companiesisisused
usedto
tocontrol
controlthe
thelathe
lathe
CNC
CNC system.
system.

Core of the system is a word length of 16-bit minicomputer.

main memory is capacity of 8K at least, the power is the
exchange of 115 volts, using semiconductor components for
storage, also specially prepared a battery power supply.

7360 the system's hardware

7360 control panel

1.
1. Screen
Screen (CRT)
(CRT) monitors
monitors

2.
2. Manual
Manual data
data input
input (MDI)
(MDI) operation
operation

3.
3. Other
Other control
control buttons
buttons

Keyboard

CRT

RAM

Processor
Front
Panel

Servo
Output

Speed
link

I
Reader
Industrial
processor

Position
feedback

Puncher

7360CNC
DC switch

input interface

DNC host computer

DNC host
computer

Auxiliary
Control
Panel

DC Solenoid
Driver Interface

Spindle servo
into and
out of port

Machine

I / O multiChannel
interface

7360 system interface

UPK arithmetic logic unit

UPJ controller plug-in

UPG storage plug-in, each 8K, up to 4 available

UPI Controller Interface

UPH Memory Interface

UEA External Device Interface

Software of 7360 system

1Summary
Developed
Bradley
AllenBradley
Developedby
byAllen
Allen
BradleyCompany
Company, ,U.S,
U.S,7360
7360system
systemisisaa
AllenBradley
typical
typicalsystem
systemwhich
whichisiswith
withdigital
digitalsampling
samplingand
andititisisaareal-time
real-time
process
processcontrol
controlsystem.
system.

2 composition
AAvariety
varietyof
ofcontrol
controlfunctions
functionshave
havebeen
beenused
usedas
asthe
thetask
taskto
to
formulate
formulatean
anindependent
independentprogram
programmodules,
modules,with
withthe
thesystematic
systematic
process
process, ,each
eachof
ofthe
thefunctional
functionallinkages
linkagesas
asaawhole.
whole.

5.5.2
5.5.2

7M system

7M system is a closed-loop CNC system which is of

high-precision, high-performance
NC system is jointly designed by FOXCONN FANUC
and Siemens , co-developed in 1976.
Siemens took charge of hardware and FANUC , the
software.
Primarily used to control the milling machines and

machining centers.
Was the world's most advanced numerical control
systems.

Hardware of7M system

CRT/MDI

Operation
panel
module (CPU)

Communication
Module
(CPU)

Automatic
Programming
Module (CPU)

Primary
Storage
Module

FANUC BUS

Communication
Module
(CPU)

PLC Module
(CPU)

I/O Unit

Position
Control
Module (CPU)

Servo drive unit

Spindle
Control
System Module

Spindle Unit

Software of 7M system

7M NC device's software in the form of the 22K control

procedures, curing in the ROM (the three coordinate two
linkage system 20K); 4K CRT control procedures; diagnostic
program (input by exclusive of the diagnosis paper
tape),simple tructure of the whole process, mio more ,tight
refining process.


Exercises
of chapter 5
3-1 What parts is CNC system mainly composed of ?
3-2 What parts is Computer numerical control system (CNC system) mainly
composed of? What are the functions of these various parts?

3-3 What's the micro-computer controlling functions of CNC

system?
3-4 What's the computer decoding program functions of CNC
system?
3-5 Compared with the general-purpose computer , what are salient
features of industrial control computer?

3-6 For CNC system , among the software interpolation methods

commonly used, there is a method of data sampling. Computer implement
the interpolation process and the output is the data but not the pulse. This
method can be applied ().
open-loop control system
open-loop

closed-loop control system

closed-loop

point-to-point control system continuous control system

point-to-point

3-7 What can be done to improve the reliability of CNC

system?
Adopting singlechip
Adopting
Raising clock frequency
Raising

Adopting Dual CPU

Adopting
Adopting modular construction
Adopting

Adopting photoelectricity isolating circuit

Adopting

3-8 Computer parts of CNC system are mainly composed of the

microprocessor(CPU
), internal memory (RAM and ROM) and I/O
microprocessor(CPU),
interface circuit. And be connected by the three signal lines
as

Another way to question : Computer parts of CNC system

are mainly composed of

and

. And be connected

by the three signal lines as Data Bus ,Address Bus and

Control Bus .
3-9 What is the microprocessor, computer, computer system?
3-10 What are computer's I/O interface circuits often composed
of?

3-11 What are the basic functions of CNC in the I/O controlling
channel?
3-12 what's the major role of photoelectricity isolation
circuit (such as the use of Darlington or A type OCD of the
probed silicon)?
3-13 Plot the diagram of Stepper Motor
Motors Controlling Channel
which is distributing divisible task in a ring of processors by software or
distributing divisible task in a ring of processors by hardware.
3-14 What are the components of CNC software controlling
system?
3-15 What is the modular designa of a computer numerical
control system?
3-16 What are advantages and disadvantages in using standard bus
template to make the composition of systems?

3-17 Transform a plain lathe to an economical CNC lathe and

its main motor is still of manual controllingSquare turret
can transpose automatically (90
(90180
180270
2700)Please
make a block diagram to show What are the basic hardware
circuits and equipments are needed to form a complete CNC
system?
3-18 What is machine tools' I/O control circuit of the interface
software
interpolation procedure
system management program
compiler program of the system
servo control program

3-19 Interrupt-based system software architecture, the various features

programs are organized into different priority levels of interrupt service
programs , among the following procedures which were organized into the
highest level().
CRT display
Position Control of Servo System
Interpolation operator and section transferring process
Decoding, the tool center trajectory calculation
3-20 3-20 what's the necessary condition of The modular
design of the control system ? The modular design work can be
summed up as the use of

3-21 Currently , there are basically two kinds of typical structures of

CNC system control software ,they are

3-22 Modular of microcomputer control system, according to

function, the bus standard modules can be divided into
,

and so on.

3-23 For CNC system , among the software interpolation methods

commonly used, there is a method of data sampling. Computer
implement the interpolation process and the output is the data but not
the pulse. This method can be applied ().
open-loop control system
open-loop

closed-loop control system

closed-loop

point-to-point control system continuous control system

point-to-point