I am using a DYNAMIXEL XH430-W350-R servo in my experimental setup.
The motion control of the servo is implemented by Simulink at a rate of 500 Hz using a real-time machine (Speedgoat).
Currently the servo is set up (or will be set up in the final run) to use velocity control. It is also connected to a power supply that allows for the motion control and a signal to be sent to and read by a DAQ board.
I have designed a robot with this X-series servo to control the rotation of an acrylic wing about a vertical axis. The entire robot is submerged in mineral oil while running to dynamically scale the aerodynamic forces on the acrylic wing. I intend the velocity of my wing to gradually achieve a constant value while rotating. The period where the velocity moves from rest to this final value is relatively short. It will probably not exceed one or two seconds. I need to make sure that the acceleration the servo induces onto the wing apparatus is within the tolerances capable of the servo. It would be difficult for me to use the Wizard 2.0 tool (as I understand it) because it would involve taking apart the entire robot to do so. Rather, I can always adjust my kinematics to make sure the maximum acceleration is within limits since I have no interest in messing around with the PID gains to adjust them.