Rigid tapping and PID control

Thank you, andypugh.

setp pid_sp.maxerrorI 0.8

This value seems to solve the problem. If this value is small, it approaches I gain = 0, and if it is large, the acceleration will be large at the start and it will be a runaway.

Thank you for your proper advice.

I have raised a request that this be addressed in the lcec driver:

github.com/sittner/linuxcnc-ethercat/issues/113