mirror of https://github.com/rene-dev/stmbl.git
57 lines
964 B
Plaintext
57 lines
964 B
Plaintext
link pid
|
|
link pmsm
|
|
link encs_fb0
|
|
link enc_cmd
|
|
link misc
|
|
enc_cmd0.mode = 1
|
|
enc_cmd0.remap = 3
|
|
load not
|
|
load not
|
|
load not
|
|
load and
|
|
not0.rt_prio = 11
|
|
not1.rt_prio = 11
|
|
not2.rt_prio = 13
|
|
and0.rt_prio = 12
|
|
not0.in = io0.C12
|
|
fault0.en = not0.out
|
|
not1.in = fault0.fault
|
|
and0.in0 = not1.out
|
|
and0.in1 = fault0.en
|
|
and0.in2 = 1
|
|
and0.in3 = 1
|
|
not2.in = and0.out
|
|
enc_cmd0.fault = not2.out
|
|
conf0.polecount = 5
|
|
conf0.cmd_res = 32768 #cmd counts / rev * 2
|
|
fb_switch0.track_fb = 1
|
|
conf0.max_vel = 350
|
|
conf0.max_acc = 40000
|
|
conf0.vel_g = 0.2
|
|
|
|
#r2aa08075 X-axis
|
|
conf0.r = 0.4
|
|
conf0.l = 0.0011
|
|
conf0.j = 0.0005
|
|
conf0.max_force = 5
|
|
conf0.max_ac_cur = 12
|
|
conf0.cur_i = 0.00001
|
|
|
|
#r2aa08075 Y-axis
|
|
conf0.r = 0.4
|
|
conf0.l = 0.0011
|
|
conf0.j = 0.00063
|
|
conf0.max_force = 5
|
|
conf0.max_ac_cur = 12
|
|
conf0.cur_i = 0.00001
|
|
fb_switch0.track_fb = 1
|
|
|
|
#r2aa0604 Z-axis
|
|
conf0.r = 1.4
|
|
conf0.l = 0.0037
|
|
conf0.j = 0.00008
|
|
conf0.max_force = 3
|
|
conf0.max_ac_cur = 8
|
|
conf0.cur_i = 0.00015
|
|
fb_switch0.track_fb = 1
|