For those who are interested to see how servo drive internals are constructed, see the new Wiki article: Signal path of servo motor drive. The diagrams presented in the article are useful when designing systems where servo drives are part of the system.
![Signal path from setpoint source (user interface) to internal setpoint (fed to actual servo control)](http://openservodrive.com/wp-content/uploads/2014/04/driveblockdiagram_setpoint_v1-500x89.png)
Signal path from setpoint source (user interface) to internal setpoint (fed to actual servo control)
The diagrams are also useful when designing custom code to Argon open source I/O side firmware. The I/O side microcontroller acts as provider of User setpoint as well as position and velocity feedbacks referred in the images. Rest of the illustrated logic lies inside the GraniteCore.