link pid
link pmsm
link misc
link fanuc_fb0
link jog_cmd
conf0.r = 1
conf0.l = 0.005
conf0.j = 0.000025
conf0.polecount = 4
conf0.max_ac_cur = 18
conf0.max_vel = 250
conf0.max_acc = 20000
conf0.max_force = 20
conf0.cur_i = 0.0001