PnCConf pid loop wiring error

There appears to b a connection/signal name problem at least with the 7I77 and maybe
all PID loops that use encoders and the PID comp:

The the encoder velocity pin connects to PID comps command-deriv pin
instead of the feedback-deriv pin as it should.

This was caught by Todd Zuercher:

www.linuxcnc.org/index.php/english/compo...ew&catid=10&id=23211

This would have affected virtually all servo systems in 2.5 from PNCconf.

I have fixed the name from commanded to feedback (oops!)
just so I'm clear feedback-deriv should be connected to encoder.velocity
and x-vel-fb makes sense for the signal name.

Chris M

Yes, PID.n.feeback-deriv connects to encoder.n.velocity (or resolver.n.velocity)

PID.n.command-deriv should probably be left unconnected

Thanks Peter. I pushed the fix.