[QUOTE=RogerN;218823]
Originally Posted by Madclicker 
Of course this would be great to have PID control, you could tune to directly control servos with the PIC interfaced to a H-Bridge.
Thanks for the response!
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Hello Roger,
I am also working on a same project and trying to figure out PIC side software for the whole operation. At the moment what i understand (Please correct me if I am wrong) is ..
Step pulse width(high + low) which is inversely proportional to the vilocity from MACH2 and Pulse width from encoder as feed back (high + low) should be equal.
So error between these pulses should be zero ( this is our set point for pid loop).
I am not sure is it the right way to move forward on to write pic side code or not.(Please share your idea).
1- What is error in your understanding. is it difference between distances or difference between vilocities. ?
2- What about motion profile if using PID loop . Will the motion profile comming from MACH2 in form of step pulses and actual Motion profile of motor got after PID tunning can be the same.?
Thanks
Dani..