AMK_RAMP #

link pid

link acim

link enc_fb0

link misc

conf0.r = 1.4

conf0.l = 0.0013

conf0.j = 0.006

conf0.max_force = 20

conf0.max_ac_cur = 15

conf0.mot_fb_res = 4096

acim_ttc0.slip_n = 3

acim_ttc0.cur_n = 6

acim_ttc0.torque_n = 9

acim_ttc0.mode = 1

conf0.polecount = 2

conf0.max_vel = 800

conf0.max_acc = 3000

conf0.vel_p = 2000

conf0.vel_i = 10

conf0.cur_p = 1

pe0.cap = 0.00136

rev1.in = enc_fb0.ipos

pe0.cap = 0.00136

pid0.pos_en = 0

conf0.max_dc_volt = 400

conf0.high_dc_volt = 300

load ramp

ramp0.rt_prio = 3.1

ramp0.max_acc = conf0.max_acc

ramp0.vel_fb = vel1.vel

ramp0.max_torque = conf0.max_force

ramp0.scale = fault0.scale

ramp0.torque_fb = pid0.torque_cmd

pid0.max_torque = 20

pid0.min_torque = -20

pid0.vel_ext_cmd = ramp0.vel_cmd

vel1.en = 1

term0.gain0 = 1

term0.gain1 = term0.gain0

term0.gain2 = term0.gain0

term0.wave0 = ramp0.vel_ext_cmd

term0.wave1 = ramp0.vel_cmd

term0.wave2 = ramp0.vel_fb

term0.gain3 = 5

term0.gain4 = term0.gain3

term0.wave3 = conf0.max_ac_cur

term0.wave4 = hv0.abs_cur

term0.gain5 = 1

term0.gain6 = term0.gain5

term0.wave5 = conf0.max_force

term0.wave6 = pid0.torque_cmd