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Principle of thwartwise motion in tufting machine, hardware and function of Programmable Multi-Axis Controller (PMAC) and controlling process were presented. 敘述了地毯簇羢機中橫動運動的伺服控制，提出了基於可編程多軸控制器（PMAC）運動控制卡的半閉環控制系統。