HAAS_SPINDLE_SLIP_UF #

link pid

link acim

link enc_fb0

link misc



link sserial_uf

load idx_home

load linrev

linrev0.rt_prio = 2.1

idx_home0.rt_prio = 2.3

linrev0.fb_in = idx_home0.pos_out

linrev0.fb_d_in = vel1.vel

idx_home0.fb = enc_fb0.pos

idx_home0.fb_abs = enc_fb0.abs_pos

idx_home0.mot_state = enc_fb0.state

enc_fb0.amp = 5



idx_home0.index_en = sserial0.index_out

idx_home0.mot_state = fb_switch0.mot_state

sserial0.index_clear = idx_home0.index_clear

linrev0.rev_clear = sserial0.index_clear

sserial0.pos_fb = linrev0.fb_out

sserial0.vel_fb = linrev0.fb_d_out

linrev0.scale = -1



conf0.r = 1.4

conf0.l = 0.0013

conf0.j = 0.015

conf0.max_force = 50

conf0.max_ac_cur = 25

acim_ttc0.cur_n = 20

acim_ttc0.torque_n = 19

acim_ttc0.freq_n = 50

acim_ttc0.slip_n = 1.8

acim_ttc0.u_n = 230

acim_ttc0.u_boost = 5

conf0.polecount = 2

conf0.vel_p = 500

conf0.vel_i = 1

conf0.max_sat = 0.5

iit0.cur_boost = 2

iit0.max_time = 60

conf0.max_pos_error = 0

conf0.max_vel = 900

conf0.max_acc = 9000

conf0.mot_fb_res = 2000

conf0.max_dc_volt = 390

conf0.high_dc_volt = 375



pid0.max_vel = conf0.max_vel

pid0.max_torque = 50

pid0.min_torque = -50



load ramp

ramp0.rt_prio = 1.95

ramp0.vel_ext_cmd = sserial0.pos_cmd_d

ramp0.en = sserial0.out3

ramp0.max_vel = 837

ramp0.max_acc = 837



load not

not0.rt_prio = 2

not0.in = sserial0.out3



pid0.vel_ext_cmd = ramp0.vel_cmd

pid0.pos_en = not0.out



acim_ttc0.mode = 2