PMDC SERVO MOTOR WITH quadrature encoder DRIVE ?

[phoenix_1]

So, are you saying that it works now? No more "ticks" or "jumps", always smooth? What was the actual problem?

Here is youtube video what I was upload

Motor move in pid control loop commanded by 16F877 which is central CPU for future Baloon printing machin which soon finished.
Machin move 8 baloon in cyrcle and print two color in same time on two printing platform controled with pneumatic via valves...etc.
On video motor only move at small distance on my desk but it was tested real and work very good.
My next project will be real PID controller to work with MACH3 software.

Thanks Henrik for PID and Darrel for DT instant interrupt and to all here.
/Robert