Leslie Newell wrote: > Hi Jon, > > If I set the I term any lower than 500 it takes a LONG time to have any > effect at all. Even with 500 it is taking several seconds to stabilise. > > I'm beginning to suspect there has been a change in the way PID works, either due to hostmot2 or the version of EMC you and I are using. Do you use the normal PID component (loadrt pid num_chan=4)? Or, does hostmot2 use some different PID package? (I've been looking into doing velocity estimates with a hardware+driver change, and it would require a different PID, as it needs to get velocity from the driver as opposed to calculating it by position delta each cycle).
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