Hi Randy,

yes, I used never CNC machines.
Now I can understand many times better,
what you want.


Pulses to speed:

I think my latest suggestion was a good way:
- Count the stepper pulses into 1 variable
and the encoder pulses into another.
- Compare both and generate a voltage
depending from the difference.

So on the 1. pulse the motor starts with slow speed.
And if further pulses comes faster, the difference
increases and the speed also.
And if no more pulses comes, the speed decreases
slowly until both counters equal again.

This all result in a speed depending from the pulse
frequency and avoid any speed changing to quickly.


PWM output:

You can use T2 as square wave output
and feed it back into the T2EX input.
So you get an interrupt on every transition.
To get a timing different from a square wave,
you must only reload the RCAP2 registers
with 2 different (low time, high time) values
in the interrupt routine.

Then you must only convert 0 .. 5V to -10 .. +10V.

So I see no problems on using the 8052.


Peter