mirror of https://github.com/rene-dev/stmbl.git
68 lines
1.3 KiB
Plaintext
68 lines
1.3 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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link sserial_uf
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load idx_home
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load linrev
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linrev0.rt_prio = 2.1
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idx_home0.rt_prio = 2.3
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linrev0.fb_in = idx_home0.pos_out
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linrev0.fb_d_in = vel1.vel
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idx_home0.fb = enc_fb0.pos
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idx_home0.fb_abs = enc_fb0.abs_pos
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idx_home0.mot_state = enc_fb0.state
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enc_fb0.amp = 5
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idx_home0.index_en = sserial0.index_out
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idx_home0.mot_state = fb_switch0.mot_state
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sserial0.index_clear = idx_home0.index_clear
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linrev0.rev_clear = sserial0.index_clear
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sserial0.pos_fb = linrev0.fb_out
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sserial0.vel_fb = linrev0.fb_d_out
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linrev0.scale = -1
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conf0.r = 1.4
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conf0.l = 0.0013
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conf0.j = 0.015
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conf0.max_force = 50
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conf0.max_ac_cur = 25
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acim_ttc0.cur_n = 20
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acim_ttc0.torque_n = 19
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acim_ttc0.freq_n = 50
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acim_ttc0.slip_n = 1.8
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acim_ttc0.u_n = 230
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acim_ttc0.u_boost = 5
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conf0.polecount = 2
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conf0.vel_p = 500
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conf0.vel_i = 1
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conf0.max_sat = 0.5
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iit0.cur_boost = 2
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iit0.max_time = 60
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conf0.max_pos_error = 0
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conf0.max_vel = 900
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conf0.max_acc = 9000
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conf0.mot_fb_res = 2000
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conf0.max_dc_volt = 390
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conf0.high_dc_volt = 375
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pid0.max_vel = conf0.max_vel
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pid0.max_torque = 50
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pid0.min_torque = -50
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load ramp
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ramp0.rt_prio = 1.95
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ramp0.vel_ext_cmd = sserial0.pos_cmd_d
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ramp0.en = sserial0.out3
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ramp0.max_vel = 837
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ramp0.max_acc = 837
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load not
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not0.rt_prio = 2
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not0.in = sserial0.out3
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pid0.vel_ext_cmd = ramp0.vel_cmd
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pid0.pos_en = not0.out
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acim_ttc0.mode = 2
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