Current control closed loop Maxon

[Bastiennn]

Translator

Hello all !

I've trying to implement a closed loop current control to monitor a motor from Maxon with the EPOS4.

My setup :
Laptop with LabVIEW, EPOS4, Maxon's motor, load cell as a sensor.
I want to implement (in my imagination (dangerous) I need a PID.vi to make it work) the fact that depending on the value of the sensor and the set value, the current is set.
Do you think I use the right VI (for the PID), and do you think the closed loop should looks a bit like this ?

The first loop is in velocity mode so that the motor approach the sample with slow speed,
The second loop is current mode

I put my VI in case some one is interested and wants to have a look,
Bu sorry it's a bit messy, I've been trying loads of things.

Thanks a lot for your reading time in any cases !
Bastien.