2018-06-24 16:15:27 +00:00
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link pid
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link pmsm
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link encs_fb0
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link enc_cmd
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link misc
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enc_cmd0.mode = 1
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enc_cmd0.remap = 3
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2018-09-19 19:55:23 +00:00
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load not
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load not
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load not
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load and
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not0.rt_prio = 11
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not1.rt_prio = 11
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not2.rt_prio = 13
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and0.rt_prio = 12
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not0.in = io0.C12
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fault0.en = not0.out
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not1.in = fault0.fault
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and0.in0 = not1.out
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and0.in1 = fault0.en
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and0.in2 = 1
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and0.in3 = 1
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not2.in = and0.out
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enc_cmd0.fault = not2.out
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conf0.polecount = 5
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conf0.cmd_res = 32768 #cmd counts / rev * 2
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2018-09-20 13:36:40 +00:00
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fb_switch0.track_fb = 1
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conf0.max_vel = 350
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conf0.max_acc = 40000
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conf0.vel_g = 0.2
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2018-09-19 19:55:23 +00:00
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2018-09-20 13:36:40 +00:00
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#r2aa08075 X-axis
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2018-09-19 19:55:23 +00:00
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conf0.r = 0.4
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2018-09-20 13:36:40 +00:00
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conf0.l = 0.0011
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conf0.j = 0.0005
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2018-09-19 19:55:23 +00:00
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conf0.max_force = 5
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conf0.max_ac_cur = 12
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conf0.cur_i = 0.00001
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2018-09-20 13:36:40 +00:00
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#r2aa08075 Y-axis
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2018-09-19 19:55:23 +00:00
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conf0.r = 0.4
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2018-09-20 13:36:40 +00:00
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conf0.l = 0.0011
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conf0.j = 0.00063
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conf0.max_force = 5
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conf0.max_ac_cur = 12
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conf0.cur_i = 0.00001
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fb_switch0.track_fb = 1
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#r2aa0604 Z-axis
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conf0.r = 1.4
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conf0.l = 0.0037
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conf0.j = 0.00008
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conf0.max_force = 3
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2018-09-19 19:55:23 +00:00
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conf0.max_ac_cur = 8
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2018-09-20 13:36:40 +00:00
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conf0.cur_i = 0.00015
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2018-10-13 12:50:16 +00:00
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fb_switch0.track_fb = 1
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