[elchip]

I was see UHU controller and was start to project "my 18F4431 PID controller + HP UHU output stage.
All work as I expect but with one problem what I can't find from where it come.
Irrespective which speed is of motor movement I have some erratic clip of motor in not constant period - from time to time lik "ping ,ping ping" and motor stress a couple steps +/- and go to next stress which come after unknown period. Sometime is couple stress one after one but sometime only one and so on.
I was look at scope and I cant find any anomaly in signals.
The output stage is identical HP UHU with IRF540N and motor is 30V "duncanmotor with gear 6.25:1 with optical encoder RE30-2-500".
I read it in 4X mode and drive 20KHz PWM from pic on CCP1 for Locked-Antiphase.
Any idea or help please.
The best regards
/Robert

P.S. Sorry for bad English...

[elchip]

No need for help I was success fix problem in config of 18F4431.
Regards