Igor Chudov wrote: > > Jon, if I could have that, it would be perfect. Say, no commanded move in 10 > seconds, shut down the motor. > > I STILL don't like it. You need a HAL component that looks at commanded position (comes from axis.8.motor-pos-cmd, I think) and compares current to last position. If different, output FALSE, if the same, output TRUE. Just copying the signal to a new signal should give you the previous position. I'm not sure how you copy a HAL signal to another signal without making it into a pin first (ie. passing it through a component). Hal component comp is a two-input comparator with hysteresis. That should compare current pos against previous pos. Then, you need a timer ( component timedelay) to output TRUE after a delay when the comparator goes true. When this signal is true, a mux component feeds zero to the DAC channel. When the timer output if FALSE, it selects the output of the appropriate PID component to the DAC input.
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