Block | Description |
| Assigns the duration of the positive torque signal |
| Assigns the duration of the negative torque signal |
| Converts the set-point to the amplitude of the positive torque signal |
| Converts the set-point to the amplitude of the negative torque signal |
| Gets the sum of the signals |
| Assigns acceleration and deceleration according to the K slope factor |
| Smoothes the signal |