BENE_SANYO #

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