Looking for AC universal motor driver circuit scheme

[bedo]

ciao to all members !

for my hexapod cnc I'm looking for a circuit schematic to control speed
and possibly direction of an AC ( 220V ) universal motor.
At the moment my plans for this part are a small pic that works "stand alone"
and receive speed and direction as digital data from the main data bus and
control the motor speed keeping it to the programmed value with feedback
from sensor attached to the motor ( hall or opto ).
I have no problem writing the pic code and all the board design, I just need
the hi-voltage "interface" to the motor and how to drive it with the pic.
I have almost no knowlogde and experience with triacs and scr and I do
not want to "test & trial" with 220V....

So any feedback is welcome,

ciao, Bedo.

[Al_The_Man]

I have schematic of a treadmill controller that was based around the motorola IC in the PDF in post #4 of this link.
Triac Circuit design suggestions
The TM controller uses a simple (~10 pulse/rev) magnetic PU for rpm control with triac control.
I will see if I can dig the TM schematic out, I am using one on a Band saw motor conversion.
Also see this link http://www.littelfuse.com/data/en/Ap...tes/AN1003.pdf
Al.

[Al_The_Man]

BTW, if you want to reverse a Universal motor, it gets tricky as you have to bring the field winding terminations out in order to reverse them with respect to the armature, (they are both in series).
Al.