General servo and controller questions

Hello,

I've set up a small stepper system, and it's been running well.
Recently I've been looking at servo systems, specifically DC
brushless servos, but I'm overwhelmed with all the terminology. With
no comprehensive source of information, I've just been reading and
gleaning information to little avail. It's been frustrating, so I'm
posting some of my questions here, hopefully someone can point me in
the right direction.


My understanding of these brushless servo systems is that they
controlled with a PC motion controller card -> servo amplifier ->
servo.

OR

If I want to use the parallel port interface with the computer, I can
get the rutex R991H to generate the signals to the amplifier.
Parallel port -> Rutex board -> Servo amplifer -> Servo.

I found the Rutex R991H here:
http://www.rutex.com/us/cart.php?
target=product&action=view&product_id=15&category_id=5


I've purchased some of these AMC amplfiers:
http://www.a-m-c.com/download/b30a.pdf

Is it possible to wire the Rutex with the AMC amplifiers? I believe
the AMC ones are "analog command input." I've looked at the manual
and I'm completely lost as to how to wire these things. For example,
where would the +/- 10 V signal from the Rutex go?


In general, my questions are:

1. How are the servos wired to their controllers? For example, how
would I wire the AMC amplifiers to the Rutex R991H? Or how would I
wire the AMC amplifiers to a motion controller card?

2. What are the meaning of terms like current, open loop voltage,
tachometer, and Hall velocity? And are there different types of
brushless DC servos?

Sorry if my questions are too elementary. I'd really appreciate it if
someone could point me to a source of information that would answer
these types of questions (books, websites...). I'd like to obtain a
holistic understanding rather than ask questions on a case by case
basis.

Thanks,
Jim