Changes made for Pathfinder 5226 controllers.

In a closed loop system the motion of an axis is based on calculated set points of where it should be in real life. If the real life feedback is not matching up with the set point positions then the control will be adjusted with a PID system to try and match the actual position with the set points. Factors like friction, gravity or physical limitations can all cause the closed loop system to adjust the analog accordingly. Another feature we have that adjusts the signal is the velocity table which is created to multiply the analog signal based on where it is in the travel. To utilize this feature even more each calculation of the PID is multiplied by this table before the final calculation. This allows the loop to have each component of the PID to have an adjustment based on where the axis is in travel.