steptest relies on stepgen to do acceleration limiting. so this line > position_cmd = position_fb + 2 * maxvel * fperiod; puts the new goal out in front of position_fb by twice the distance stepgen could cover in one period at full velocity.
steptest maxaccel should probably just be removed. I don't know that steptest should be used for testing servo systems. but at a minimum you'd have to add a limit3 block to provide the acceleration constraint that stepgen provides internally. Jeff ------------------------------------------------------------------------------ Gaining the trust of online customers is vital for the success of any company that requires sensitive data to be transmitted over the Web. Learn how to best implement a security strategy that keeps consumers' information secure and instills the confidence they need to proceed with transactions. http://p.sf.net/sfu/oracle-sfdevnl _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
