load idm
idm0.rt_prio = 4

idm0.en = fault0.en_out
pid0.pos_ext_cmd = idm0.pos_cmd
pid0.vel_ext_cmd = idm0.vel_cmd
pid0.acc_ext_cmd = idm0.acc_cmd

pid0.j_mot = idm0.inertia
pid0.d = idm0.damping
pid0.f = idm0.friction
pid0.l = idm0.load

pid0.pos_bw = idm0.pos_bw
pid0.vel_bw = idm0.vel_bw
pid0.vel_d = idm0.vel_d

idm0.torque = pid0.torque_cmd
idm0.fb_torque = pid0.fb_torque_cmd

vel1.torque = 0
vel2.torque = 0

conf0.max_pos_error = 0
conf0.max_sat = 10
conf0.vel_g = 1

term0.wave0 = idm0.pos_cmd
term0.wave2 = idm0.vel_cmd
term0.wave4 = pid0.fb_torque_cmd
term0.gain4 = 100

term0.send_step = 21