2019-12-11 09:22:44 +00:00
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link pid
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link pmsm
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2020-02-24 21:32:39 +00:00
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link encws_fb0
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uvw0.p0 = -1
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uvw0.p1 = 0
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uvw0.p2 = 4
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uvw0.p3 = 5
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uvw0.p4 = 2
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uvw0.p5 = 1
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uvw0.p6 = 3
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uvw0.p7 = -1
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link en
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en0.time = 10
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2019-12-11 09:22:44 +00:00
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link jog_cmd
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link misc
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conf0.r = 2
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conf0.l = 0.007
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2020-02-24 21:32:39 +00:00
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conf0.j = 0.000015
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2019-12-11 09:22:44 +00:00
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conf0.j_load = 0.00005
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conf0.polecount = 5
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2020-02-25 03:38:03 +00:00
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conf0.max_ac_cur = 3
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2019-12-11 09:22:44 +00:00
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conf0.mot_fb_res = 20000
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2020-02-25 03:38:03 +00:00
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conf0.max_force = 1.5
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2019-12-11 09:22:44 +00:00
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load hx
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2020-02-24 21:32:39 +00:00
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hx0.rt_prio = 1.5
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2020-02-25 03:38:03 +00:00
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hx0.gain = -200
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2020-02-24 21:32:39 +00:00
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hx0.time = 0.010000
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term0.wave4 = hx0.out0
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2019-12-11 09:22:44 +00:00
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load home
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home0.rt_prio = 9
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rev0.in = home0.pos_out
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2020-02-25 03:38:03 +00:00
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home0.home_vel = -2
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2020-02-24 21:32:39 +00:00
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home0.en_in = en0.en_out1
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home0.home_acc = 500
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2019-12-11 09:22:44 +00:00
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load fmove
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fmove0.rt_prio = 10
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fmove0.en = home0.en_out
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2020-02-24 21:32:39 +00:00
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fmove0.force_in = hx0.out0
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2019-12-11 09:22:44 +00:00
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home0.pos_in = fmove0.mpos
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term0.wave0 = fmove0.mpos
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2019-12-12 00:35:42 +00:00
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fmove0.damping = 0
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2019-12-11 09:22:44 +00:00
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fmove0.real_mass = 0
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2019-12-12 00:35:42 +00:00
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fmove0.virtual_mass = 5
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fmove0.friction = 0.5
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2019-12-11 09:22:44 +00:00
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fmove0.min_pos = 0
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2019-12-12 00:35:42 +00:00
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fmove0.max_pos = 1
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2020-02-25 03:38:03 +00:00
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#fmove0.scale = 210
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2020-02-24 21:32:39 +00:00
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fmove0.scale = 300
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2019-12-12 00:35:42 +00:00
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fmove0.max_vel = 0.025
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fmove0.max_acc = 0.15
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2020-02-25 03:38:03 +00:00
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fmove0.max_usr_vel = 0.15
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2019-12-12 00:35:42 +00:00
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fmove0.max_usr_acc = 5
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2020-02-25 03:38:03 +00:00
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fmove0.force_th = 2
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2019-12-11 09:22:44 +00:00
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term0.send_step = 0
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2019-12-12 00:35:42 +00:00
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fmove0.print_freq = 10
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2020-02-24 21:32:39 +00:00
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fmove0.force_offset_lpf = 0.001
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2020-02-22 11:31:54 +00:00
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conf0.j = 0.00003
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2020-02-25 03:38:03 +00:00
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conf0.vel_p = 1000
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conf0.vel_i = 1
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2020-02-22 11:31:54 +00:00
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conf0.pos_p = 10
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2020-02-24 21:32:39 +00:00
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2020-02-25 03:38:03 +00:00
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#fmove0.print_freq = 0
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2020-02-24 21:32:39 +00:00
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#term0.send_step = 41
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fault0.com_fb_error = 0
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fault0.mot_fb_error = 0
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load not
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not0.rt_prio = 15
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not0.in = en0.en_out0
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io0.fbsd = not0.out
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fault0.en = en0.en_out1
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load th
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th0.rt_prio = 4
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th0.in = pid0.torque_cor_cmd
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th0.min = -1
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th0.max = 1
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2020-02-25 03:38:03 +00:00
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th0.in_lpf = 0.25
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2020-02-24 21:32:39 +00:00
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home0.home_in = th0.out_not
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2020-02-25 03:38:03 +00:00
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home0.home_pos = 1.5
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io0.fan = 1
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