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).

Jon

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