Patent attributes
An apparatus comprises a plurality of servo controllers and a plurality of motor control circuits. Each of the plurality of motor control circuits has a primary serial interface (SIF) coupled to one of the plurality of servo controllers and at least one secondary SIF coupled to others of the plurality of servo controllers. Each of a plurality of independently controllable actuators is coupled to one of the motor control circuits. Each of the plurality of motor control circuits is configured to generate a compensated control signal using an actuator command received from the primary SIF and an actuator command received from the at least one secondary SIF. Each of the plurality of motor control circuits is configured to control movement of one of the plurality of actuators using the compensated control signal.
