2016-02-02 13:13:59 +00:00
|
|
|
conf0.r = 0.6
|
2015-11-27 13:11:09 +00:00
|
|
|
conf0.l = 0.0025
|
2015-11-27 18:23:04 +00:00
|
|
|
conf0.j = 0.00005
|
2015-11-27 13:11:09 +00:00
|
|
|
conf0.psi = 0.04774
|
|
|
|
|
conf0.polecount = 2
|
|
|
|
|
conf0.mot_type = 0.000000
|
|
|
|
|
conf0.out_rev = 0.000000
|
|
|
|
|
|
|
|
|
|
conf0.max_vel = 837.75
|
|
|
|
|
conf0.max_acc = 83775
|
|
|
|
|
conf0.max_force = 2
|
|
|
|
|
conf0.max_dc_cur = 10
|
|
|
|
|
conf0.max_ac_cur = 6
|
|
|
|
|
|
|
|
|
|
conf0.fb_type = 8
|
2016-02-02 13:13:59 +00:00
|
|
|
conf0.fb_offset = 1.54
|
2015-11-27 13:11:09 +00:00
|
|
|
conf0.fb_res = 16384
|
|
|
|
|
conf0.autophase = 0
|
|
|
|
|
|
|
|
|
|
conf0.cmd_type = 1
|
|
|
|
|
conf0.cmd_res = 2000
|
|
|
|
|
|
|
|
|
|
conf0.p = 1
|
|
|
|
|
conf0.pos_p = 150
|
|
|
|
|
conf0.vel_p = 1
|
|
|
|
|
conf0.acc_p = 1
|
|
|
|
|
conf0.acc_pi = 100
|
|
|
|
|
conf0.cur_p = 0.5
|
|
|
|
|
conf0.cur_i = 0.001
|
|
|
|
|
conf0.cur_ff = 1
|
|
|
|
|
conf0.cur_ind = 0.9
|
|
|
|
|
conf0.max_sat = 0.2
|
