Hi Yanming, Thank you very much for the information. here and this is what I found in iuser.h USER_PWM_FREQ_HZ*1000/ USER_NUM_PWM_TICKS-PER_ISR_TICKS=(30*1000)/2=15000 (?) USER_CTRL_FREQ_HZ= USER_ISR_FREQ_HZ / USER_NUM_ISR_TICKS-PER_CTRL_TICK=15000/1 USER_TRAJ_FREQ_HZ = USER_CTRL_FREQ_HZ/USER_NUM_CTRL_TICKS-PER_TRAJ_TICK= 15000/15=1000 and: USER_MOTOR_NUM_POLE_PAIRS=2 USER_IQ_FULL_SCALE_FREQ_HZ=300 Therefore: MAX_ACCEL_KRPM_SF=(USER_MOTOR_NUM_POLE_PAIRS*1000)/(USER_IQ_FULL_SCALE_FREQ_HZ*USER_TRAJ_FREQ_HZ*60)=9 Krpms(?) When adding ctrlHandle>-traj.spd.maxDelta to express window and by doing try and error, I have got 0.00108 krpms as min acceleration to result 2 for ctrlHandle>-traj.spd.maxDelta.This is equal 3600 rpm per hour acceleration while I need 0.01 of this acceleration (36 rpm per hour). What is the best way to achieve this low acceleration? It seems that I can play with USER_NUM_PWM_TICKS-PER_ISR_TICKS, USER_PWM_FREQ_HZ, USER_CTRL_FREQ_HZ and USER_NUM_CTRL_TICKS-PER_TRAJ_TICK? Can I please have an email address to send the user.h file?-it does not attach here. Thank you very much in advance
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