mirror of https://github.com/rene-dev/stmbl.git
81 lines
1.3 KiB
Plaintext
81 lines
1.3 KiB
Plaintext
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link pid
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link acim
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link res_fb0
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link enc_cmd
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link misc
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conf0.r = 2
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conf0.l = 0.016
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conf0.j = 0.0003
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conf0.max_force = 20
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conf0.max_ac_cur = 12
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acim_ttc0.cur_n = 3
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acim_ttc0.torque_n = 1.9
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acim_ttc0.freq_n = 100
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acim_ttc0.u_n = 160
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acim_ttc0.u_boost = 5
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conf0.polecount = 2
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conf0.mot_fb_rev = 1
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conf0.vel_p = 300
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conf0.vel_i = 2
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conf0.max_sat = 0.2
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iit0.cur_boost = 4
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iit0.max_time = 60
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pid0.max_vel = conf0.max_vel
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pid0.max_torque = 20
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pid0.min_torque = -20
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conf0.max_pos_error = 0
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conf0.max_vel = 1100
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conf0.mot_fb_res = 8000
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load mad
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mad0.rt_prio = 1.9
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mad0.in = io0.in1
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mad0.mult = 84
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load ramp
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ramp0.rt_prio = 1.95
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ramp0.vel_ext_cmd = mad0.out
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ramp0.en = io0.ind0
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ramp0.max_vel = 1050
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ramp0.max_acc = 500
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load mux
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mux0.rt_prio = 2
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pid0.pos_en = mux0.out0
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mux0.in0 = 1
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mux0.in10 = 0
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pid0.vel_ext_cmd = mux0.out1
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mux0.in1 = vel0.vel
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mux0.in11 = ramp0.vel_cmd
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acim_ttc0.mode = mux0.out2
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mux0.in2 = 0
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mux0.in12 = 2
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acim_ttc0.slip_n = mux0.out3
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mux0.in3 = 1
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mux0.in13 = 2
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fault0.max_sat = mux0.out4
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mux0.in4 = conf0.max_sat
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mux0.in14 = 2
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mux0.mux = io0.ind0
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res0.freq = 5000
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res0.phase = 0.89
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enc_cmd0.mode = 1
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enc_cmd0.remap = 3
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load not
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not0.rt_prio = 2
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not0.in = io0.C12
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fault0.en = not0.out
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enc_cmd0.fault = fault0.fault
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term0.wave2 = mux0.out1
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term0.gain2 = 0.1
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term0.gain3 = 0.1
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conf0.max_dc_volt = 390
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