2018-10-04 19:13:01 +00:00
|
|
|
link uf
|
|
|
|
|
load avg
|
2018-10-05 17:53:54 +00:00
|
|
|
load ramp
|
|
|
|
|
ramp0.rt_prio = 5.1
|
2018-10-04 19:13:01 +00:00
|
|
|
avg0.rt_prio = 5
|
2018-10-05 17:53:54 +00:00
|
|
|
|
|
|
|
|
conf0.max_acc = 1000
|
|
|
|
|
conf0.max_vel = 2550
|
2018-10-04 19:13:01 +00:00
|
|
|
conf0.r = 1.4
|
|
|
|
|
conf0.l = 0.0013
|
|
|
|
|
conf0.polecount = 1
|
2018-10-05 17:53:54 +00:00
|
|
|
conf0.out_rev = 1
|
|
|
|
|
conf0.high_dc_volt = 380
|
|
|
|
|
conf0.max_dc_volt = 390
|
|
|
|
|
|
2018-10-04 19:13:01 +00:00
|
|
|
uf0.u_n = 155.0
|
|
|
|
|
uf0.vel_n = 2513.0
|
|
|
|
|
conf0.max_ac_cur = 20
|
|
|
|
|
iit0.cur_boost = 1.5
|
|
|
|
|
iit0.max_time = 60
|
|
|
|
|
uf0.cur_n = 12
|
|
|
|
|
|
2018-10-05 17:53:54 +00:00
|
|
|
ramp0.max_acc = conf0.max_acc
|
|
|
|
|
ramp0.max_speed = conf0.max_vel
|
|
|
|
|
ramp0.vel_ext_cmd = avg0.out
|
|
|
|
|
uf0.vel_cmd = ramp0.vel_cmd
|
2018-10-04 19:13:01 +00:00
|
|
|
|
|
|
|
|
fault0.fb_ready = 1
|
|
|
|
|
|
2018-10-05 17:53:54 +00:00
|
|
|
term0.wave0 = avg0.out
|
|
|
|
|
term0.wave1 = ramp0.vel_cmd
|
|
|
|
|
term0.wave2 = hv0.abs_cur
|
|
|
|
|
term0.wave3 = uf0.load
|
|
|
|
|
term0.wave4 = 1
|
2018-10-04 19:13:01 +00:00
|
|
|
|
2018-10-05 17:53:54 +00:00
|
|
|
term0.gain0 = 0.05
|
2018-10-04 19:13:01 +00:00
|
|
|
term0.gain1 = 0.05
|
2018-10-05 17:53:54 +00:00
|
|
|
term0.gain2 = 10
|
|
|
|
|
term0.gain3 = 75
|
|
|
|
|
term0.gain4 = 75
|
2018-10-04 19:13:01 +00:00
|
|
|
|
|
|
|
|
avg0.mult = 0.1047
|
2018-10-05 17:53:54 +00:00
|
|
|
avg0.lpf = 10
|
|
|
|
|
|
|
|
|
|
avg0.mult = 0.1047
|
|
|
|
|
avg0.lpf = 10
|
|
|
|
|
|
|
|
|
|
conf0.out_rev = 1
|
2018-10-04 19:13:01 +00:00
|
|
|
|
2018-10-05 17:53:54 +00:00
|
|
|
conf0.high_dc_volt = 380
|
|
|
|
|
conf0.max_dc_volt = 390
|
|
|
|
|
link sserial_uf
|
