2018-03-12 22:51:17 +00:00
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link pid
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link pmsm
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2018-09-16 15:16:36 +00:00
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sleep 0.5
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2018-03-12 22:51:17 +00:00
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link enc_fb0
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link misc
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link sserial
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2018-09-16 03:54:57 +00:00
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#link jog_cmd
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2018-03-12 22:51:17 +00:00
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linrev0.scale = -3.5483870968
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conf0.r = 0.4
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conf0.l = 0.01
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2018-09-16 03:54:57 +00:00
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conf0.j = 0.00007
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#0.000135 * (22/31)^2
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conf0.j_load = 0.000068
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conf0.j_lpf = 200
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2018-03-12 22:51:17 +00:00
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conf0.polecount = 2
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conf0.max_force = 10
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conf0.max_ac_cur = 10
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conf0.mot_fb_res = 16384
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2018-09-16 03:54:57 +00:00
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conf0.mot_fb_offset = -2.6
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2018-03-12 22:51:17 +00:00
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fb_switch0.phase_cur = 7
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fb_switch0.phase_time = 1
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2018-09-16 03:54:57 +00:00
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conf0.pos_p = 20
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conf0.vel_i = 20
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