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