Step Response graph in Torque Mode

Would like to make sure im on the right track , My Graph results are not a Square wave like the Tuning manual shows ,But the target Graph isn't either .
Is this correct ?

I ve included the graph and drc file .

I can get it internal Hard stop ok . But didn't really understand the I.O user , but how Ive got it work when i Unlock the reset switch.
Would appreciate any feedback

BL60-235 servos Vsde drives

Many thanks

you can radically change the appearance of your tuning graphs by playing with the sample rates and quantity, also the ratio numbers. try slower and faster sample rates and different ratios for gearing, 10/10 and 70/70 are both 1 to 1 but yield a very different performance.

I tried a changing the sample rate , but the wave of the graph altered , nothing like the Square Wave example in the Tuning manual . I did get to the bottom of it , for any one seeking the answer that the Manual is very short on explaining , I had to turn off INPUT FILTERING .

Thanks for the reply thou