Hello,
I was hoping you could shed some light on the main differences between the user defined servo algorithm and the basic pid algorithm, specifically when a hardware over travel limit switch is hit.
Our setup allows for closed loop control when the switch is triggered so that we have a controlled deceleration.
Here are my questions.
1. When an over travel limit is triggered, does the basic PID remain in position control (calculates a distance target over the requested deceleration time) or does it switch over to a velocity OR acceleration based control
2. With all of the above do you place a limit on the applied torque so that the vector is only in the direction of deceleration. I.e. the mass cannot be re accelerated further past the limit switch. Is this different to the user defined servo ?
