[mcm_xyz]

Hello again!

I've made some additional optimizations in code and got the PID to work at 9.12 kHz! very good...
Also there is a new procedure in place allowing a 5 % decrease in power when motor is in stopped position making this way the vibrations induced by the integral windup ZERO!!! so there are no more unwanted vibrations when stopped.
Also there is no decrease in actuation performance, the servo response curve is near perfect, only 13% overshoot and 52 ms settling time for a 100 steps jump.

I will come back with pictures and videos of my new router when a new encoder for the third axis will arrive. I accidentally connected it wrong and smoked it... shame on me...

For now the new firmware...

Mihai

PS. I see a growing interest in this project. Rest assured, it will newer transform in a commercial one. But I am interested for a better design in the schematic and board. If someone could improve it, this could be a nice addition. Also it would be nice to separate the inputs for step / dir / enable with optocouplers and maybe even the encoder, given the advantages and the low price for such circuits.