Editing GraniteCore

[[File:Argon architecture.jpg|thumb|Argon drive achitecture|400px]]
GraniteCore a.k.a. GC is the motor control core developed for [[Argon (servo drive)]].
==Argon architecture==
Argon consists dual CPU architecture which run in tight synchronism and have different tasks:
;GraniteCore
*Servo control functionality for torque, velocity and position control
*[[High dynamic range torque control]]
*Control power stage directly
*Axis homing functionality
*Virtual scope to capture variables at high sample rate
*Galvanically isolated from I/O side
;I/O side CPU
*Feed GraniteCore with real time data consisting
**Position & velocity feedback device data
**State of physical inputs (enable, clear faults etc)
**SimpleMotion V2 commands to read/write parameters
*Interface different types [[Feedback devices|feedback devices]] and [[Reference signal|reference inputs]]
*Handle SimpleMotion V2 communication
*Display device state via digital outputs and [[Argon LED indicators|LED indicators]]

I/O side CPU has open source firmware allowing end users to implement additional drivers for feedback devices and/or create stand-alone servo drive applications without external [[Controller]].