mirror of
https://github.com/rene-dev/stmbl.git
synced 2024-12-30 04:24:29 +00:00
51 lines
1.1 KiB
Plaintext
51 lines
1.1 KiB
Plaintext
|
link pid
|
||
|
|
link acim
|
||
|
|
link enc_fb0
|
||
|
|
link misc
|
||
|
|
conf0.r = 1.4
|
||
|
|
conf0.l = 0.0013
|
||
|
|
conf0.j = 0.006
|
||
|
|
conf0.max_force = 20
|
||
|
|
conf0.max_ac_cur = 15
|
||
|
|
conf0.mot_fb_res = 4096
|
||
|
|
acim_ttc0.slip_n = 3
|
||
|
|
acim_ttc0.cur_n = 6
|
||
|
|
acim_ttc0.torque_n = 9
|
||
|
|
acim_ttc0.mode = 1
|
||
|
|
conf0.polecount = 2
|
||
|
|
conf0.max_vel = 800
|
||
|
|
conf0.max_acc = 3000
|
||
|
|
conf0.vel_p = 2000
|
||
|
|
conf0.vel_i = 10
|
||
|
|
conf0.cur_p = 1
|
||
|
|
pe0.cap = 0.00136
|
||
|
|
rev1.in = enc_fb0.ipos
|
||
|
|
pe0.cap = 0.00136
|
||
|
|
pid0.pos_en = 0
|
||
|
|
conf0.max_dc_volt = 400
|
||
|
|
conf0.high_dc_volt = 300
|
||
|
|
load ramp
|
||
|
|
ramp0.rt_prio = 3.1
|
||
|
|
ramp0.max_acc = conf0.max_acc
|
||
|
|
ramp0.vel_fb = vel1.vel
|
||
|
|
ramp0.max_torque = conf0.max_force
|
||
|
|
ramp0.scale = fault0.scale
|
||
|
|
ramp0.torque_fb = pid0.torque_cmd
|
||
|
|
pid0.max_torque = 20
|
||
|
|
pid0.min_torque = -20
|
||
|
|
pid0.vel_ext_cmd = ramp0.vel_cmd
|
||
|
|
vel1.en = 1
|
||
|
|
term0.gain0 = 1
|
||
|
|
term0.gain1 = term0.gain0
|
||
|
|
term0.gain2 = term0.gain0
|
||
|
|
term0.wave0 = ramp0.vel_ext_cmd
|
||
|
|
term0.wave1 = ramp0.vel_cmd
|
||
|
|
term0.wave2 = ramp0.vel_fb
|
||
|
|
term0.gain3 = 5
|
||
|
|
term0.gain4 = term0.gain3
|
||
|
|
term0.wave3 = conf0.max_ac_cur
|
||
|
|
term0.wave4 = hv0.abs_cur
|
||
|
|
term0.gain5 = 1
|
||
|
|
term0.gain6 = term0.gain5
|
||
|
|
term0.wave5 = conf0.max_force
|
||
|
|
term0.wave6 = pid0.torque_cmd
|