I am not very well versed in the theory of control, and therefore no indication in the common sense would help me a lot. To achieve this, I just wouldn't be able to use a single PID VI (probably the FPGA VI express for discrete PID)? The scene release mechanism is such that the position is locked if the motor does not move and I do not need a torque control to keep the engine in place. There is no voltage or current on the drive circuit sensors so I wouldn't be able to have a closed loop current in this case. I use the example program of encoder for the NI 9505 - in my application. I also have an encoder, quadrature, connected to a NOR-9403 read position and speed. I use a bridge using NOR-9401 and H to power the motor circuit and a PWM output to move the engine. The engine drives a linear step and the final project needs to create a control of position of the engine that the user is able to enter a speed, position and control steps to move to this position. I am currently working on a project to control a 230V brushed servo motor using cRIO. CRIO - H bridge using the PWM output and input only encoder control
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