mirror of https://github.com/rene-dev/stmbl.git
23 lines
419 B
Plaintext
23 lines
419 B
Plaintext
link pid
|
|
link pmsm
|
|
sleep 0.5
|
|
link enc_fb0
|
|
link misc
|
|
link sserial
|
|
#link jog_cmd
|
|
linrev0.scale = -3.5483870968
|
|
conf0.r = 0.4
|
|
conf0.l = 0.01
|
|
conf0.j = 0.00007
|
|
#0.000135 * (22/31)^2
|
|
conf0.j_load = 0.000068
|
|
conf0.j_lpf = 200
|
|
conf0.polecount = 2
|
|
conf0.max_force = 10
|
|
conf0.max_ac_cur = 10
|
|
conf0.mot_fb_res = 16384
|
|
conf0.mot_fb_offset = -2.6
|
|
fb_switch0.phase_cur = 7
|
|
fb_switch0.phase_time = 1
|
|
conf0.pos_p = 20
|
|
conf0.vel_i = 20 |