Hi, i need to create a model for HT1 lynxmotion smart servo using simscape for pid control and i got the motor parameters from here :
High torque smart servo (HT1) parameters
motor model :
so i want to know is this model really represent the motor and what is the encoder gain (0.6667 is volt/rad if the encoder voltage is 4.096 volt). i implement this model to a revolute joint and take a feedback from the revolute joint block to the pid block and i hope by tuning i can specify the pid parameters.