load pmsm_ttc
pmsm_ttc0.rt_prio = 9
pmsm_ttc0.psi = conf0.psi
pmsm_ttc0.polecount = conf0.polecount
pmsm_ttc0.pos_in = vel2.pos_out
pmsm_ttc0.torque = pid0.torque_cmd
hv0.d_cmd = fb_switch0.id
hv0.q_cmd = pmsm_ttc0.cur
hv0.cmd_mode = 1
hv0.phase_mode = 2
hv0.pos = pmsm_ttc0.pos_out