mirror of https://github.com/rene-dev/stmbl.git
73 lines
1.2 KiB
Plaintext
73 lines
1.2 KiB
Plaintext
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load enc_fb
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enc_fb0.rt_prio = 2
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enc_fb0.res = conf0.mot_fb_res
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load vel
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vel0.rt_prio = 2.1
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vel0.en = 1
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vel0.pos_in = enc_fb0.pos
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link uf
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load avg
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load ramp
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ramp0.rt_prio = 5.1
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avg0.rt_prio = 5
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conf0.max_acc = 300
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conf0.max_vel = 900
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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.polecount = 2
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conf0.max_force = 50
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conf0.max_ac_cur = 25
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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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uf0.u_n = 80.0
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uf0.vel_n = 182.0
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iit0.cur_boost = 1.2
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iit0.max_time = 60
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uf0.cur_n = 18
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ramp0.max_acc = conf0.max_acc
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ramp0.max_speed = conf0.max_vel
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ramp0.vel_ext_cmd = avg0.out
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uf0.vel_cmd = ramp0.vel_cmd
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fault0.fb_ready = 1
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avg0.mult = 6.5
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avg0.lpf = 10
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link sserial_uf
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load avg
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avg1.rt_prio = 2.1
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avg1.mult = 0.158
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avg1.in = vel0.vel
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sserial0.vel_fb = avg1.out
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avg1.lpf = 10
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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 = hv0.abs_cur
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term0.wave3 = 20
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term0.gain0 = 0.1
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term0.gain1 = 0.1
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term0.gain2 = 5
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term0.gain3 = 5
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term0.gain4 = 100
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term0.gain5 = 0.2
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term0.wave4 = uf0.load
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load avg
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avg2.rt_prio = 2.3
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avg2.in = uf0.load
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avg2.offset = conf0.max_acc
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avg2.mult = -330
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avg1.lpf = 10
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ramp0.max_acc = avg2.out
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term0.wave5 = avg2.out
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hv0.q_cmd = 3
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hv0.dac = 2000
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