2018-03-12 22:51:17 +00:00
|
|
|
link pid
|
|
|
|
|
link pmsm
|
2018-09-16 15:16:36 +00:00
|
|
|
sleep 0.5
|
2018-03-12 22:51:17 +00:00
|
|
|
link enc_fb0
|
|
|
|
|
link misc
|
|
|
|
|
link sserial
|
2018-09-16 03:54:57 +00:00
|
|
|
#link jog_cmd
|
2018-03-12 22:51:17 +00:00
|
|
|
linrev0.scale = -2.2
|
|
|
|
|
conf0.r = 0.4
|
|
|
|
|
conf0.l = 0.01
|
2018-09-16 03:54:57 +00:00
|
|
|
conf0.j = 0.000045
|
|
|
|
|
# 0.000622 * (22/50)^2
|
|
|
|
|
conf0.j_load = 0.00012
|
|
|
|
|
conf0.j_lpf = 200
|
2018-03-12 22:51:17 +00:00
|
|
|
conf0.polecount = 2
|
|
|
|
|
conf0.max_force = 10
|
2018-09-16 03:54:57 +00:00
|
|
|
conf0.max_ac_cur = 20
|
2018-03-12 22:51:17 +00:00
|
|
|
conf0.mot_fb_res = 16384
|
|
|
|
|
conf0.mot_fb_offset = -2.842850
|
|
|
|
|
fb_switch0.phase_cur = 7
|
2018-09-16 03:54:57 +00:00
|
|
|
conf0.pos_p = 20
|
|
|
|
|
conf0.vel_i = 20
|
