feedback MS150, Reference Manual, Page: 15 / 77

CHAPTER 2
MODULAR SERVO
Reference Manual
Description of the Toolbox Functions
2-4 33-008-2M5
Example 2 : The base address equal to zero can be used to test the software. This
operating mode is useful to test real-time software or to test MATLAB
m-scripts and Simulink models. It does not require any interface
hardware. The data are generated by the model of the real hardware
which is built into the RTK.
The following commands display the example of data generated by the
simulator.
ret = es_call( 'SetBaseAddress', 0 );
ret = es_call( 'SetPW', [ 1 1 1 1 1 -1 -0.3 0.3 1 zeros( 1, 11 ) ] );
ret = es_call( 'SetDataSource', [ 1 2 3 4 5 6 ] );
ret = es_call( 'SetAlgNo', 1 );
ret = es_call( 'StartAcq' ); pause( 5 )
hist = es_call( 'GetHistory' );
plot( hist( 1, : ), hist( [2 3 8], : ), hist( 1, : ), 100*hist( [8], : ) )
0 1 2 3 4 5 6
-5 0 0
-4 0 0
-3 0 0
-2 0 0
-1 0 0
0
1 0 0
2 0 0
3 0 0