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Including its control system: communication module, the basic motion control module, an absolute position encoder counter, quadrature encoder interface, closed-loop control module, advanced motion control (linear / nonlinear acceleration and deceleration, the S- curve of PV / PVT position control), the sensor input control module, and the event change notification module. Control driver built-in high-performance DSP embedded microprocessor system, with motion control and real-time state change notification, all the control cycle is completed in 1 milliseconds.