HAAS_SPINDLE_UF #

load enc_fb

enc_fb0.rt_prio = 2

enc_fb0.res = conf0.mot_fb_res

load vel

vel0.rt_prio = 2.1

vel0.en = 1

vel0.pos_in = enc_fb0.pos



link uf

load avg

load ramp

ramp0.rt_prio = 5.1

avg0.rt_prio = 5



conf0.max_acc = 300

conf0.max_vel = 900

conf0.r = 1.4

conf0.l = 0.0013

conf0.j = 0.015

conf0.polecount = 2

conf0.max_force = 50

conf0.max_ac_cur = 25

conf0.mot_fb_res = 2000

conf0.max_dc_volt = 390

conf0.high_dc_volt = 375



uf0.u_n = 80.0

uf0.vel_n = 182.0

iit0.cur_boost = 1.2

iit0.max_time = 60

uf0.cur_n = 18



ramp0.max_acc = conf0.max_acc

ramp0.max_speed = conf0.max_vel

ramp0.vel_ext_cmd = avg0.out

uf0.vel_cmd = ramp0.vel_cmd



fault0.fb_ready = 1



avg0.mult = 6.5

avg0.lpf = 10



link sserial_uf

load avg

avg1.rt_prio = 2.1

avg1.mult = 0.158

avg1.in = vel0.vel

sserial0.vel_fb = avg1.out

avg1.lpf = 10



term0.wave0 = ramp0.vel_ext_cmd

term0.wave1 = ramp0.vel_cmd

term0.wave2 = hv0.abs_cur

term0.wave3 = 20

term0.gain0 = 0.1

term0.gain1 = 0.1

term0.gain2 = 5

term0.gain3 = 5

term0.gain4 = 100

term0.gain5 = 0.2

term0.wave4 = uf0.load



load avg

avg2.rt_prio = 2.3

avg2.in = uf0.load

avg2.offset = conf0.max_acc

avg2.mult = -330

avg1.lpf = 10

ramp0.max_acc = avg2.out

term0.wave5 = avg2.out

hv0.q_cmd = 3

hv0.dac = 2000