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--- mycnc:closed_loop_configuration [2018/10/09 14:07] – skirillov
+++ mycnc:closed_loop_configuration [2019/11/05 08:54] (current) – ivan
@@ Line 1: / Line 1: @@
 ===== MyCNC closed loop configuration =====
-A proportional–integral–derivative controller (PID controller) is a control loop feedback mechanism widely used in industrial control systems and a variety of other applications requiring continuously modulated control. A PID controller continuously calculates an error value E(t) as the difference between the desired setpoint position (POS) and a real position measured by encoders (ENC) and applies a correction based on proportional, integral, and derivative terms (denoted P, I, and D respectively).
+A proportional–integral–derivative controller (PID controller) is a control loop feedback mechanism widely used in industrial control systems and a variety of other applications requiring continuously modulated control. A PID controller continuously calculates an error value E(t) as the difference between the desired setpoint position (POS) and a real position measured by [[mycnc:rotary_encoder_connection_and_setup|encoders]] (ENC) and applies a correction based on proportional, integral, and derivative terms (denoted P, I, and D respectively).
@@ Line 97: / Line 97: @@
   * Write "1" to register number **60000** will turn ON Motor closed-loop control PIDs
   * Write "1" to register number **60001** will turn OFF Motor closed-loop control PIDs
-Reading this registers has no effect and return zero value.
+Reading this registers has no effect and return zero value. Read more about Servo ON/Servo OFF commands in this short manual: [[mycnc:servo_on_off|Servo ON/OFF]].
 . Automatic Servo ON/OFF. There are 2 handler procedures in Software PLC can be used to automatic PID ON/OFF.