hi Henrik;
i see you are a motor control specialist..
first of all thank you for sharing your work on your PID routine. About it i have some questions to understand.
_________
question1:
i don't understand theese variables:
pid_I_Clamp = 100 'Clamp I-term to max ±100
pid_Out_Clamp = 511 'Clamp the final output to ±511

_________
question2:
I see it controls position. ¿Does it control speed?

_________
question3:
from my pc i get two parameters: position and speed. i want to preset a 1 second of gradual speed increasing (you know, for not damaging mechanism & stuff..) and speed decreasing for before getting to the given position. Do any of your PID inc file variables handle this parameter/s or i need to do it by myself?

to let you breathe, it's all for now thank you.

regards, Rodrigo