function out=simFxFyStage()
  global Kp Kvfb Ki Kvff Kaff MaxInt
  global m1 m2 mot_num mot_den Ts MaxDac MaxPosErr
  global A B C D
    function ServoDeltaTau_z(motid)
    Ts=2E-4; % 0.2ms=5kHz
    MaxDac=2011.968;
    MaxPosErr=10000;
    if motid==1
      %!motor_servo(mot=1,ctrl='ServoCtrl',Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000)
      %!motor(mot=1,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=5,IpfGain=8,IpbGain=8,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
      Kp=25;Kvfb=400;Ki=0.02;Kvff=350;Kaff=5000;MaxInt=1000;       
      mot_num=m1.tf_mdl.Numerator;
      mot_den=m1.tf_mdl.Denominator;
    else
      %!motor_servo(mot=2,ctrl='ServoCtrl',Kp=22,Kvfb=350,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
      %!motor(mot=2,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=5,IpfGain=8,IpbGain=8,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
      Kp=22;Kvfb=350;Ki=0.02;Kvff=240;Kaff=1500;MaxInt=1000;
      mot_num=m2.tf_mdl.Numerator;
      mot_den=m2.tf_mdl.Denominator;
    end
  end
  mdlName='stage_closed_loop';
  open(mdlName)
  ServoDeltaTau_z(2)
  [A,B,C,D]=tf2ss(mot_num,mot_den);
  
  %mdlWks=get_param(mdlName,'ModelWorkspace')
  %whos global
  %whos(mdlWks)
  %assignin(mdlWks,'Ts',1234)
  %getVariable(mdlWks,'Ts')
  % in global space call:
  %global Kp Kvfb Ki Kvff Kaff MaxInt
  %global m1 m2 mot_num mot_den Ts MaxDac MaxPosErr
  %[m1,m2]=identifyFxFyStage();
 
  %
end