link pid
load uf
uf0.rt_prio = 2
uf0.un = 200
uf0.fn = 500
uf0.max_acc = 50
uf0.min_acc = 10
hv0.cmd_mode = 0
hv0.phase_mode = 2
hv0.pos = uf0.pos
hv0.d_cmd = uf0.ud
hv0.q_cmd = 0
term0.wave0 = hv0.d_cmd
term0.wave1 = hv0.id_fb
term0.wave2 = uf0.f_cmd
term0.wave3 = uf0.f_fb
term0.gain0 = 1
term0.gain2 = 1
term0.gain3 = 1