FESTO #

link pid
link pmsm
link enc_fb0
link uvw_fb1
link jog_cmd
link misc

load smart_torque

conf0.r = 0.915
conf0.l = 0.001
conf0.j = 0.000297
conf0.psi=0.275
conf0.polecount = 4

# encoder ABZ
conf0.mot_fb_res=40000
conf0.mot_fb_offset=2.07
conf0.mot_fb_rev=0

# encoder UVW
conf0.com_fb_rev=0
uvw0.p0 = 0.000000
uvw0.p1 = 3.000000
uvw0.p2 = 5.000000
uvw0.p3 = 4.000000
uvw0.p4 = 1.000000
uvw0.p5 = 2.000000
uvw0.p6 = 0.000000
uvw0.p7 = 0.000000

conf0.max_ac_cur = 4.5
conf0.max_force = 10
conf0.max_vel = 250

# Fan
conf0.fan_hv_temp=20

# Jog test in servoterm only
stp0.max_pos=100000
stp0.min_pos=-100000
stp0.max_vel=140
stp0.max_acc=400




conf0.pos_p = 7.000000
conf0.vel_p = 10000.000000
conf0.vel_i = 100.000000
conf0.vel_g = 1.000000
conf0.cur_p = 0.200000
conf0.cur_i = 1.500000
conf0.cur_ff = 0.000000
conf0.cur_ind = 0.000000
conf0.max_sat = 0.000000
conf0.max_pos_error=0

smart_torque0.frt_prio=2.0
smart_torque0.out0=enc_fb0.pos

fault0.en=smart_torque0.enable


pid0.torque_ext_cmd=0
pid0.min_torque=smart_torque0.torque_neg
pid0.max_torque=smart_torque0.torque_pos

term0.wave0=smart_torque0.out0
term0.gain0=100

term0.wave1=0
term0.wave2=0
term0.wave3=0
term0.wave4=0