HAL Configs on STMBLv5 Documentation

Mon, 01 Jan 0001 00:00:00 +0000

AMK #

Configuration Content #

link pid
link acim
link enc_fb0
link misc
conf0.r = 1.4
conf0.l = 0.0013
conf0.j = 0.006
conf0.max_force = 9
conf0.max_ac_cur = 13
conf0.mot_fb_res = 4096
conf0.cmd_res = 4096
acim_ttc0.slip_n = 3
acim_ttc0.cur_n = 6
acim_ttc0.torque_n = 9
conf0.polecount = 2
conf0.vel_p = 1000
conf0.vel_i = 1
conf0.max_sat = 10
conf0.cur_p = 1
pe0.cap = 0.00136
rev1.in = enc_fb0.ipos

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

AMK_RAMP #

Configuration Content #

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

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

AS60_SMARTABS #

Configuration Content #

link pid
link pmsm
link smartabs_fb0
link misc
conf0.r = 1.6
conf0.l = 0.008
conf0.j = 0.00007
conf0.cur_i = 0.0004
conf0.max_force = 5.7
conf0.max_ac_cur = 9
conf0.polecount = 4

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

ASYC_UF_3KW #

Configuration Content #

link uf
load avg
load ramp
ramp0.rt_prio = 5.1
avg0.rt_prio = 5

conf0.max_acc = 1000
conf0.max_vel = 2550
conf0.r = 1.4
conf0.l = 0.0013
conf0.polecount = 1
conf0.out_rev = 1
conf0.high_dc_volt = 380
conf0.max_dc_volt = 390

uf0.u_n = 155.0
uf0.vel_n = 2513.0
conf0.max_ac_cur = 20
iit0.cur_boost = 1.5
iit0.max_time = 60
uf0.cur_n = 12

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

term0.wave0 = avg0.out
term0.wave1 = ramp0.vel_cmd
term0.wave2 = hv0.abs_cur
term0.wave3 = uf0.load
term0.wave4 = 1

term0.gain0 = 0.05
term0.gain1 = 0.05
term0.gain2 = 10
term0.gain3 = 75
term0.gain4 = 75

avg0.mult = 0.1047
avg0.lpf = 10

avg0.mult = 0.1047
avg0.lpf = 10

conf0.out_rev = 1

conf0.high_dc_volt = 380
conf0.max_dc_volt = 390
link sserial_uf

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

BENE_SANYO #

Configuration Content #

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

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

BENE_UF_2KW #

Configuration Content #

link uf
load avg
load ramp
ramp0.rt_prio = 5.1
avg0.rt_prio = 5

conf0.max_acc = 2600
conf0.max_vel = 2600
conf0.r = 1.4
conf0.l = 0.0013
conf0.j = 0.015
conf0.polecount = 1
conf0.max_ac_cur = 25
conf0.max_dc_volt = 390
conf0.high_dc_volt = 375

uf0.u_n = 155.0
uf0.vel_n = 2513.0
conf0.max_ac_cur = 12
iit0.cur_boost = 1.5
iit0.max_time = 300
uf0.cur_n = 8

ramp0.max_acc = conf0.max_acc
ramp0.max_vel = conf0.max_vel
ramp0.vel_ext_cmd = avg0.out
uf0.vel_cmd = ramp0.vel_cmd
ramp0.load = uf0.load 

fault0.fb_ready = 1

avg0.mult = 260
avg0.lpf = 10

term0.wave0 = ramp0.vel_ext_cmd
term0.wave1 = ramp0.vel_cmd
term0.wave2 = hv0.abs_cur
term0.wave3 = conf0.max_ac_cur
term0.wave4 = uf0.load
term0.gain0 = 0.04
term0.gain1 = 0.04
term0.gain2 = 5
term0.gain3 = 5
term0.gain4 = 100
term0.gain5 = 0.2

load avg
avg1.rt_prio = 2.3
avg1.in = uf0.load
avg1.mult = 1
avg1.lpf = 10
term0.wave5 = avg1.out

ramp0.en = io0.ind0
avg0.in = io0.in1
fault0.en = ramp0.en_out

load not
not0.rt_prio = 5
load and
and0.rt_prio = 5
load not
not1.rt_prio = 5

and0.in0 = ramp0.at_speed
and0.in1 = io0.ind0
io0.out0 = and0.out
not1.in = fault0.fault
io0.out1 = not1.out
not0.in = fault0.en_out
io0.out2 = not0.out
and0.in2 = 1
and0.in3 = 1
hv0.q_cmd = 5

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

DUAL_DC_SSERIAL #

Configuration Content #

link pid
link sserial
load move
load move
move0.rt_prio = 20
move1.rt_prio = 20
move0.scale = sserial0.pos_cmd_d
move1.scale = sserial0.pos_cmd_d
move0.fwd = sserial0.out0
move0.rev = sserial0.out1
move1.fwd = sserial0.out2
move1.rev = sserial0.out3
hv0.phase_mode = 0
hv0.cmd_mode = 0
hv0.d_cmd = move0.out
hv0.q_cmd = move1.out
hv0.en = 1

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

E240 #

Configuration Content #

link pid
link pmsm
link enc_fb0
link misc
conf0.r = 1.4
conf0.l = 0.0013
conf0.j = 0.0000268
conf0.max_force = 4
conf0.max_ac_cur = 13
conf0.mot_fb_res = 2048
conf0.cmd_res = 2048
conf0.mot_fb_rev = 1
conf0.polecount = 1
hv0.mode = 2
hv0.pos = 0
conf0.psi = 0.2
conf0.cur_p = 0.7

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

FANUC_A06B #

Configuration Content #

link pid
link pmsm
link enc_cmd
link enc_fb0
link fanuc_io
link misc
enc_cmd0.mode = 1
enc_cmd0.remap = 2
io0.fb1g = 1
conf0.r = 0.6
conf0.l = 0.01
conf0.j = 0.00035
conf0.polecount = 4
conf0.mot_fb_res = 8000
conf0.cmd_res = 16000
conf0.max_ac_cur = 18
conf0.max_vel = 250
conf0.max_acc = 20000
conf0.max_force = 20
conf0.mot_fb_rev = 1
conf0.cur_i = 0.0001
conf0.com_fb_polecount = 4
fault0.en = io0.fbd1
io0.fbth1 = 12
io0.out0 = fault0.fault

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

FANUC_A2_SPINDLE_FOC_ENC #

Fanuc alpha 2 induction spindle motor, fan cooled
[plate] A06B-0852-B190#3000, delta, 4 poles
(2 pole pairs), S1 2.2 kW 19 A rms (26.9 pk),
S2 15 min / S3 60 % 3.7 kW 27 A rms, 14.0 Nm,
base 1500 rpm, max 8000 rpm, J 0.0078 kgm2,
110-216 V, overload 120 % of 30 min, 1 min
idacim input: 155 V at 78.4 Hz (2352 rpm)
original Fanuc amp: SPM-5.5 A06B-6078-H206#H500,
27 A rms, 200-230 V in; parameters (FS16i,
B-65160E/02 app. C, units not recorded):
4020 max speed 8000, 4100 power base 1750,
4101 100, 4102 base speed 2352, 4103 flux
down start 2352, 4104/4105 cur P 1300,
4106/4107 cur I 1500, 4108 300, 4110 585,
4111 22, 4112 783, 4113 slip 450, 4114 high
speed slip comp 10, 4115 dead time comp 2,
motor model code 103
[id] 13 Oct 2026 from a clean config, no hand
values: idacim (standstill, rotating,
ramps tr) + pole/direction test, id_sys
on the encoder, conf0.max_force =
acim_foc0.t_max, id_pid speed mode
(idacim_rot_tr df22b814)
checked 13 Oct: 0 to +-838 rad/s both ways,
no fault, orientation within 0.055 rad
variant: rotor flux FOC on the encoder (S1)

Mon, 01 Jan 0001 00:00:00 +0000

FANUC_A2_SPINDLE_FOC_SL #

Fanuc alpha 2 induction spindle motor, fan cooled
[plate] A06B-0852-B190#3000, delta, 4 poles
(2 pole pairs), S1 2.2 kW 19 A rms (26.9 pk),
S2 15 min / S3 60 % 3.7 kW 27 A rms, 14.0 Nm,
base 1500 rpm, max 8000 rpm, J 0.0078 kgm2,
110-216 V, overload 120 % of 30 min, 1 min
idacim input: 155 V at 78.4 Hz (2352 rpm)
original Fanuc amp: SPM-5.5 A06B-6078-H206#H500,
27 A rms, 200-230 V in; parameters (FS16i,
B-65160E/02 app. C, units not recorded):
4020 max speed 8000, 4100 power base 1750,
4101 100, 4102 base speed 2352, 4103 flux
down start 2352, 4104/4105 cur P 1300,
4106/4107 cur I 1500, 4108 300, 4110 585,
4111 22, 4112 783, 4113 slip 450, 4114 high
speed slip comp 10, 4115 dead time comp 2,
motor model code 103
[id] 13 Oct 2026 from a clean config, no hand
values: idacim (standstill, rotating,
ramps tr) + pole/direction test, id_sys
on the encoder, conf0.max_force =
acim_foc0.t_max, id_pid speed mode
(idacim_rot_tr df22b814)
checked 13 Oct: I/f start, +-838 rad/s both
ways, no fault (encoder only as a check)
variant: rotor flux FOC sensorless (S3): I/f
start, observer above w_hand. No encoder.
i_f, align, w_hand, hyst, obs0.bw derived

Mon, 01 Jan 0001 00:00:00 +0000

FANUC_A2_SPINDLE_VF #

Fanuc alpha 2 induction spindle motor, fan cooled
[plate] A06B-0852-B190#3000, delta, 4 poles
(2 pole pairs), S1 2.2 kW 19 A rms (26.9 pk),
S2 15 min / S3 60 % 3.7 kW 27 A rms, 14.0 Nm,
base 1500 rpm, max 8000 rpm, J 0.0078 kgm2,
110-216 V, overload 120 % of 30 min, 1 min
idacim input: 155 V at 78.4 Hz (2352 rpm)
original Fanuc amp: SPM-5.5 A06B-6078-H206#H500,
27 A rms, 200-230 V in; parameters (FS16i,
B-65160E/02 app. C, units not recorded):
4020 max speed 8000, 4100 power base 1750,
4101 100, 4102 base speed 2352, 4103 flux
down start 2352, 4104/4105 cur P 1300,
4106/4107 cur I 1500, 4108 300, 4110 585,
4111 22, 4112 783, 4113 slip 450, 4114 high
speed slip comp 10, 4115 dead time comp 2,
motor model code 103
[id] 13 Oct 2026 from a clean config, no hand
values: idacim (standstill, rotating,
ramps tr) + pole/direction test, id_sys
on the encoder, conf0.max_force =
acim_foc0.t_max, id_pid speed mode
(idacim_rot_tr df22b814)
checked 13 Oct: 20 to +-838 rad/s, no fault
vf0.k_vel 1 with vel_src 1: the field follows
the estimated swing; 0 hunts (fault 14 at 100)
variant: open loop V/f, no encoder needed.
speed: vf0.vel_cmd [rad/s mech]; enable: fault0.en

Mon, 01 Jan 0001 00:00:00 +0000

FANUC_A2_SPINDLE_VF_ENC #

Fanuc alpha 2 induction spindle motor, fan cooled
[plate] A06B-0852-B190#3000, delta, 4 poles
(2 pole pairs), S1 2.2 kW 19 A rms (26.9 pk),
S2 15 min / S3 60 % 3.7 kW 27 A rms, 14.0 Nm,
base 1500 rpm, max 8000 rpm, J 0.0078 kgm2,
110-216 V, overload 120 % of 30 min, 1 min
idacim input: 155 V at 78.4 Hz (2352 rpm)
original Fanuc amp: SPM-5.5 A06B-6078-H206#H500,
27 A rms, 200-230 V in; parameters (FS16i,
B-65160E/02 app. C, units not recorded):
4020 max speed 8000, 4100 power base 1750,
4101 100, 4102 base speed 2352, 4103 flux
down start 2352, 4104/4105 cur P 1300,
4106/4107 cur I 1500, 4108 300, 4110 585,
4111 22, 4112 783, 4113 slip 450, 4114 high
speed slip comp 10, 4115 dead time comp 2,
motor model code 103
[id] 13 Oct 2026 from a clean config, no hand
values: idacim (standstill, rotating,
ramps tr) + pole/direction test, id_sys
on the encoder, conf0.max_force =
acim_foc0.t_max, id_pid speed mode
(idacim_rot_tr df22b814)
checked 13 Oct: +-838 rad/s, holds 0 (field
stops at a 0 command), no fault
variant: V/f with encoder slip control.
speed: vf0.vel_cmd [rad/s mech]; enable: fault0.en

Mon, 01 Jan 0001 00:00:00 +0000

FANUC_A3-3000 #

Fanuc alpha 3/3000, ball screw 10 mm/rev,
absolute Fanuc encoder, LinuxCNC on sserial.
Kira Y axis with its load, 9 Oct 2026.

Sources, marked per line:
[plate] nameplate / Fanuc datasheet
[id] measured with the id_* templates
[calc] derived from the lines above it
Fanuc gives currents in A rms; STMBL currents are
peak (A pk = A rms x 1.414).

[plate] nameplate A06B-0123-B075 (04.02):
0.9 kW cont., 127 V, 4.6 A rms, 200 Hz at
3000 rpm, class F, Y connected, 200 V amp,
stall 3 Nm at 4.6 A rms
[plate] datasheet B-65142E/02 (rms, 20 C):
max 3000 rpm, 4 pole pairs, Jm 0.0014 kgm2
Ts 3.0 Nm, Is 4.6 A rms = 6.5 A pk
Kt 0.65 Nm/A rms, Ke 23 V rms/1000 rpm
Kv 0.22 Vs/rad (psi about 0.077)
Ra 0.57 ohm/phase, thermal tc 45 min
mech tc 6 ms, static friction 0.3 Nm
max current 60 A pk, max torque 27 Nm
[plate] stock Fanuc amp (B-65162, labels):
X: A06B-6079-H204 SVM2-12/40, M channel
Y: A06B-6079-H207 SVM2-40/80, L channel
both: 12.5 A rms rated, 40 A pk limit
(about 16.8 Nm with this motor’s psi)
measured on this motor for comparison:
DMM R line-line 1.34-1.37 ohm
LCR 1 kHz L line-line 6.6-6.8 mH
psi 0.0702 = 0.91 x datasheet

Mon, 01 Jan 0001 00:00:00 +0000

FANUC_A6-2000 #

Configuration Content #

link pid
link pmsm
link misc
link fanuc_fb0
link jog_cmd
conf0.r = 0.6
conf0.l = 0.01
conf0.j = 0.00035
conf0.polecount = 4
conf0.max_ac_cur = 18
conf0.max_vel = 250
conf0.max_acc = 20000
conf0.max_force = 20
conf0.cur_i = 0.0001

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

FANUC_A6-3000 #

Fanuc alpha 6/3000, vertical axis with a
holding brake, ball screw 10 mm/rev, no
counterweight, absolute Fanuc encoder,
LinuxCNC on sserial. Kira Z axis, 21 Oct 2026,
IKCM30F60GD (water cooled) power board.

Sources, marked per line:
[plate] nameplate / Fanuc datasheet
[id] measured with the id_* templates
[calc] derived from the lines above it
[board] specific to this drive, measure yours
Fanuc gives currents in A rms; STMBL currents are
peak (A pk = A rms x 1.414).

Mon, 01 Jan 0001 00:00:00 +0000

FANUC_B05-6000 #

Configuration Content #

link pid
link pmsm
link misc
link fanuc_fb0
link jog_cmd
conf0.r = 1
conf0.l = 0.005
conf0.j = 0.000025
conf0.polecount = 4
conf0.max_ac_cur = 18
conf0.max_vel = 250
conf0.max_acc = 20000
conf0.max_force = 20
conf0.cur_i = 0.0001

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

FESTO #

Configuration Content #

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

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

HAAS #

Configuration Content #

link pid
link dc
link enc_fb0
link sserial
link misc
conf0.r = 1.4
conf0.l = 0.001
conf0.j = 0.0003
conf0.psi = 0.3
conf0.max_force = 10
conf0.max_ac_cur = 20
conf0.mot_fb_res = 8000
conf0.cur_p = 0.7
linrev0.scale = 6
conf0.high_dc_volt = 300
conf0.max_dc_volt = 400
fb_switch0.mot_state = 3

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

HAAS_SPINDLE #

Configuration Content #

link pid
link acim
link enc_fb0
link misc
link sserial
conf0.r = 1.4
conf0.l = 0.0013
conf0.j = 0.015
conf0.max_force = 30
conf0.max_vel = 800
conf0.max_acc = 800
conf0.max_ac_cur = 23
conf0.mot_fb_res = 2000
conf0.mot_fb_rev = 1
acim_ttc0.slip_n = 3
acim_ttc0.cur_n = 23
acim_ttc0.torque_n = 21
acim_ttc0.mode = 1
conf0.polecount = 2
conf0.vel_p = 200
conf0.vel_i = 10
conf0.max_sat = 10
conf0.cur_p = 1
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.min = -800
ramp0.max = 800
ramp0.min_acc = 200
ramp0.max_acc = 5
ramp0.brake_scale = 0.65
acim_ttc0.slip_n = 1
pid0.max_torque = 30
pid0.vel_ext_cmd = ramp0.out
vel1.en = 1
ramp0.in = linrev0.cmd_d_out
linrev0.scale = 1

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

HAAS_SPINDLE_SLIP #

Configuration Content #

link pid
link acim
link enc_fb0
link misc

link sserial
linrev0.scale = 1

conf0.r = 0.5
conf0.l = 0.005
conf0.j = 0.015
conf0.max_force = 30
conf0.max_ac_cur = 25
conf0.polecount = 2
conf0.vel_p = 100
conf0.vel_i = 5
conf0.max_sat = 1
conf0.max_pos_error = 0
conf0.max_vel = 840
conf0.max_acc = 2000
conf0.mot_fb_res = 2000
conf0.max_dc_volt = 390
conf0.high_dc_volt = 375
conf0.mot_fb_rev = 1

iit0.cur_boost = 1.3
iit0.max_time = 60

acim_ttc0.vel_n = 182.7
acim_ttc0.torque_n = 23.0
acim_ttc0.cur_n = 17.0
acim_ttc0.freq_n = 60.0
acim_ttc0.u_n = 80.0
acim_ttc0.u_boost = 7.0
acim_ttc0.t_boost = 1.3

load ramp
ramp0.rt_prio = 1.95
ramp0.vel_ext_cmd = rev0.out_d
ramp0.en = sserial0.en
ramp0.max_vel = 838
ramp0.max_acc = 500

fault0.en = ramp0.en_out
pid0.pos_en = 0

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

HAAS_SPINDLE_SLIP_UF #

Configuration Content #

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
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

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

HAAS_SPINDLE_UF #

Configuration Content #

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

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

LED_TEST #

Configuration Content #

io0.state = 5
io0.out0 = 1
io0.out1 = 1
io0.out2 = 1
io0.in0 = 1
io0.in1 = 1
io0.fb0g = 1
io0.fb0y = 1
io0.fb1g = 1
io0.fb1y = 1
io0.cmdg = 1
io0.cmdy = 1

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

MANUTEC_R15_1 #

Configuration Content #

link pid
link pmsm
link enc_fb0
link uvw_fb1
io0.out0 = fault0.mot_brake
conf0.com_fb_polecount = 3
conf0.polecount = 3
conf0.l = 0.002
conf0.r = 0.4
conf0.psi = 0.08
conf0.mot_fb_res = 2400
conf0.out_rev = 1
conf0.mot_fb_rev = 1
conf0.max_ac_cur = 5
conf0.max_force = 5
conf0.j = 0.00035

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

MITSU #

Configuration Content #

link pid
link pmsm
link encm_fb0
link misc
conf0.r = 1.2
conf0.l = 0.005
conf0.j = 0.00005
conf0.polecount = 2
conf0.max_ac_cur = 10
conf0.max_force = 4
conf0.mot_fb_offset = 1.57
conf0.max_vel = 837

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

MOVE #

Configuration Content #

link pid
link pmsm
link encws_fb0

uvw0.p0 = -1
uvw0.p1 = 0
uvw0.p2 = 4
uvw0.p3 = 5
uvw0.p4 = 2
uvw0.p5 = 1
uvw0.p6 = 3
uvw0.p7 = -1

link en
en0.time = 10

link jog_cmd
link misc
conf0.r = 2
conf0.l = 0.007
conf0.j = 0.000015
conf0.j_load = 0.00005
conf0.polecount = 5
conf0.max_ac_cur = 3
conf0.mot_fb_res = 20000
conf0.max_force = 1.5

load hx
hx0.rt_prio = 1.5
hx0.gain = -200
hx0.time = 0.010000

term0.wave4 = hx0.out0

load home
home0.rt_prio = 9
rev0.in = home0.pos_out
home0.home_vel = -2
home0.en_in = en0.en_out1
home0.home_acc = 500

load fmove
fmove0.rt_prio = 10
fmove0.en = home0.en_out
fmove0.force_in = hx0.out0
home0.pos_in = fmove0.mpos
term0.wave0 = fmove0.mpos

fmove0.damping = 0
fmove0.real_mass = 0
fmove0.virtual_mass = 5
fmove0.friction = 0.5
fmove0.min_pos = 0
fmove0.max_pos = 1
#fmove0.scale = 210
fmove0.scale = 300
fmove0.max_vel = 0.025
fmove0.max_acc = 0.15
fmove0.max_usr_vel = 0.15
fmove0.max_usr_acc = 5
fmove0.force_th = 2
term0.send_step = 0
fmove0.print_freq = 10
fmove0.force_offset_lpf = 0.001
conf0.j = 0.00003
conf0.vel_p = 1000
conf0.vel_i = 1
conf0.pos_p = 10

#fmove0.print_freq = 0
#term0.send_step = 41
fault0.com_fb_error = 0
fault0.mot_fb_error = 0

load not
not0.rt_prio = 15
not0.in = en0.en_out0
io0.fbsd = not0.out
fault0.en = en0.en_out1

load th
th0.rt_prio = 4
th0.in = pid0.torque_cmd
th0.min = -1
th0.max = 1
th0.in_lpf = 0.25
home0.home_in = th0.out_not
home0.home_pos = 1.5
io0.fan = 1

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

P50B #

Configuration Content #

link pid
link pmsm
link enc_fb0
link misc
conf0.r = 0.4
conf0.l = 0.01
conf0.j = 0.0001
conf0.polecount = 2
conf0.max_force = 5.7
conf0.max_ac_cur = 5
conf0.mot_fb_res = 16384
conf0.mot_fb_offset = -0.57
conf0.mot_fb_rev = 1
fb_switch0.phase_cur = 2

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

R2AA04003F #

Configuration Content #

link pid
link pmsm
link encs_fb0
link misc
link jog_cmd
conf0.r = 12
conf0.l = 0.00066
conf0.j = 0.00000247
conf0.max_force = 0.4
conf0.max_ac_cur = 2
conf0.polecount = 5

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

R2AA06020F #

Configuration Content #

link pid
link pmsm
link encs_fb0
link misc
link jog_cmd
conf0.r = 2.7
conf0.l = 0.0007
conf0.j = 0.0000219
conf0.max_force = 2.2
conf0.max_ac_cur = 5.6
conf0.polecount = 5

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

REXROTH #

Configuration Content #

link pid
link pmsm
link enc_fb0
link jog_cmd
link misc
conf0.r = 3.75
conf0.l = 0.008
conf0.j = 0.000013
conf0.max_force = 3
conf0.max_ac_cur = 6
conf0.mot_fb_res = 512
conf0.polecount = 3
conf0.out_rev = 1
fb_switch0.mot_pos = enc_fb0.ipos
reslimit0.res = 131072

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

RX60-123 #

Configuration Content #

link pid
link pmsm
link res_fb0
link misc
link sserial
io0.out0 = fault0.mot_brake
linrev0.scale = 3
conf0.polecount = 2
conf0.max_ac_cur = 17
conf0.max_force = 5
conf0.j = 0.0001
conf0.l = 0.002
conf0.r = 0.4
adc0.sin_gain = 2
adc0.cos_gain = 2

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

RX60-456 #

Configuration Content #

link pid
link pmsm
link res_fb0
link misc
link sserial
io0.out0 = fault0.mot_brake
linrev0.scale = 3
conf0.polecount = 1
conf0.max_ac_cur = 17
conf0.max_force = 5
conf0.mot_fb_offset = 1
conf0.j = 0.00001
conf0.l = 0.002
conf0.r = 10
adc0.sin_gain = 2
adc0.cos_gain = 2

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

SDA_B #

Configuration Content #

link pid
link pmsm
link misc
conf0.r = 5
conf0.l = 0.01
conf0.j = 0.00005
conf0.cur_i = 0.001
conf0.polecount = 5
io0.out0 = fault0.mot_brake
conf0.max_ac_cur = 4
conf0.max_force = 3
io0.out0 = 1
#term0.send_step = 10
load yaskawa
yaskawa0.rt_prio = 2
fb_switch0.mot_pos = yaskawa0.pos
fb_switch0.mot_abs_pos = yaskawa0.pos
fb_switch0.mot_state = 3
fault0.mot_fb_error = yaskawa0.error
io0.fb0y = yaskawa0.error
io0.fb0g = 1
yaskawa0.len = 13
yaskawa0.off = 64
conf0.mot_fb_rev = 1
fault0.mot_fb_error = 0

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

SENSORLESS_PERSKE #

Configuration Content #

link pid
link acim
link jog_cmd
link misc
conf0.r = 4.3
conf0.l = 0.008
conf0.max_ac_cur = 2
load sensorless
sensorless0.rt_prio = 5
sensorless0.r = conf0.r
sensorless0.l = conf0.l
sensorless0.ud = hv0.ud_fb
sensorless0.uq = hv0.uq_fb
sensorless0.id = hv0.id_fb
sensorless0.iq = hv0.iq_fb
term0.wave0 = sensorless0.udd
term0.wave1 = sensorless0.udd
term0.wave2 = sensorless0.ed
term0.wave3 = sensorless0.eq
term0.wave4 = sensorless0.vel
term0.gain0 = 10
term0.gain1 = 10
term0.gain2 = 10
term0.gain3 = 10
term0.gain4 = 0.5
term0.gain5 = 0.5
term0.gain6 = 0.5
#link rl
hv0.d_cmd = 0.55
hv0.q_cmd = 0
hv0.pos = sensorless0.pos
sensorless0.drop = 1.5
sensorless0.ki = 0.5
sensorless0.min_vel = 20
sensorless0.vel_boost = 0.2
conf0.r = 4
conf0.max_ac_cur = 6
sensorless0.kb = 1

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

SGMPH-01A1 #

Configuration Content #

link pid
link pmsm
link misc
conf0.r = 5
conf0.l = 0.01
conf0.j = 0.0000015
conf0.cur_i = 0.001
conf0.polecount = 3
io0.out0 = fault0.mot_brake
conf0.max_ac_cur = 4
conf0.max_force = 3
io0.out0 = 1
#term0.send_step = 10
load yaskawa
yaskawa0.rt_prio = 2
fb_switch0.mot_pos = yaskawa0.pos
fb_switch0.mot_abs_pos = yaskawa0.pos
fb_switch0.mot_state = 3
fault0.mot_fb_error = yaskawa0.error
io0.fb0y = yaskawa0.error
io0.fb0g = 1
yaskawa0.len = 20
yaskawa0.off = 56
#conf0.mot_fb_rev = 1
fault0.mot_fb_error = 0

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

SGMPH-04AA #

Configuration Content #

link pid
link pmsm
link misc
conf0.r = 5
conf0.l = 0.01
conf0.j = 0.00002
conf0.cur_i = 0.0001
conf0.polecount = 3
io0.out0 = fault0.mot_brake
conf0.max_ac_cur = 10
conf0.max_force = 6
io0.out0 = 1
#term0.send_step = 10
load yaskawa
yaskawa0.rt_prio = 2
fb_switch0.mot_pos = yaskawa0.pos
fb_switch0.mot_abs_pos = yaskawa0.pos
fb_switch0.mot_state = 1
fault0.mot_fb_error = yaskawa0.error
io0.fb0y = yaskawa0.error
io0.fb0g = 1
yaskawa0.len = 15
yaskawa0.off = 64
#conf0.mot_fb_rev = 1
fault0.mot_fb_error = 0
fb_switch0.phase_cur = 2

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

SGMPH-08AA #

Configuration Content #

link pid
link pmsm
link misc
conf0.r = 5
conf0.l = 0.01
conf0.j = 0.0001
conf0.cur_i = 0.0001
conf0.polecount = 3
io0.out0 = fault0.mot_brake
conf0.max_ac_cur = 10
conf0.max_force = 6
io0.out0 = 1
#term0.send_step = 10
load yaskawa
yaskawa0.rt_prio = 2
fb_switch0.mot_pos = yaskawa0.pos
fb_switch0.mot_abs_pos = yaskawa0.pos
fb_switch0.mot_state = 1
fault0.mot_fb_error = yaskawa0.error
io0.fb0y = yaskawa0.error
io0.fb0g = 1
yaskawa0.len = 15
yaskawa0.off = 64
#conf0.mot_fb_rev = 1
fault0.mot_fb_error = 0
fb_switch0.phase_cur = 2

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

SM060 #

Configuration Content #

link pid
link pmsm
link enc_fb0
link uvw_fb1
link jog_cmd
link misc
#link sserial
#linrev0.scale = 6
conf0.r = 1.6
conf0.l = 0.008
conf0.j = 0.00007
conf0.cur_i = 0.0004
conf0.mot_fb_offset = 0.1
conf0.max_force = 5.7
conf0.max_ac_cur = 9
conf0.mot_fb_res = 10000
conf0.cmd_res = 10000
conf0.mot_fb_rev = 1
conf0.polecount = 5
uvw0.p0 = 3
uvw0.p1 = 2
uvw0.p2 = 2
uvw0.p3 = 1
uvw0.p4 = 4
uvw0.p5 = 6
uvw0.p6 = 5
uvw0.p7 = 0

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

SPINDLE_SLIP_UF #

Configuration Content #

link pid
link acim
link res_fb0
link enc_cmd
link misc
conf0.r = 2
conf0.l = 0.016
conf0.j = 0.0003
conf0.max_force = 20
conf0.max_ac_cur = 12
acim_ttc0.cur_n = 3
acim_ttc0.torque_n = 1.9
acim_ttc0.freq_n = 100
acim_ttc0.u_n = 160
acim_ttc0.u_boost = 5
conf0.polecount = 2
conf0.mot_fb_rev = 1
conf0.vel_p = 300
conf0.vel_i = 2
conf0.max_sat = 0.2
iit0.cur_boost = 4
iit0.max_time = 60
pid0.max_vel = conf0.max_vel
pid0.max_torque = 20
pid0.min_torque = -20
conf0.max_pos_error = 0
conf0.max_vel = 1100
conf0.mot_fb_res = 8000

load mad
mad0.rt_prio = 1.9
mad0.in = io0.in1
mad0.mult = 84

load ramp
ramp0.rt_prio = 1.95
ramp0.vel_ext_cmd = mad0.out
ramp0.en = io0.ind0
ramp0.max_vel = 1050
ramp0.max_acc = 500

load mux
mux0.rt_prio = 2
pid0.pos_en = mux0.out0
mux0.in0 = 1
mux0.in10 = 0

pid0.vel_ext_cmd = mux0.out1
mux0.in1 = vel0.vel
mux0.in11 = ramp0.vel_cmd

acim_ttc0.mode = mux0.out2
mux0.in2 = 0
mux0.in12 = 2

acim_ttc0.slip_n = mux0.out3
mux0.in3 = 1
mux0.in13 = 2

fault0.max_sat = mux0.out4
mux0.in4 = conf0.max_sat
mux0.in14 = 2

mux0.mux = io0.ind0

res0.freq = 5000
res0.phase = 0.89

enc_cmd0.mode = 1
enc_cmd0.remap = 3

load not
not0.rt_prio = 2
not0.in = io0.C12
fault0.en = not0.out

enc_cmd0.fault = fault0.fault
term0.wave2 = mux0.out1
term0.gain2 = 0.1
term0.gain3 = 0.1
conf0.max_dc_volt = 390

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

SR60_1 #

Configuration Content #

link pid
link pmsm
link res_fb0
link jog_cmd
link misc
link sserial
linrev0.scale = 6
conf0.r = 2.45
conf0.l = 0.001
conf0.j = 0.000039
conf0.polecount = 4
conf0.mot_fb_offset = 0.8
conf0.max_ac_cur = 11
conf0.max_force = 4.1
conf0.max_vel = 837
conf0.max_acc = 83700
io0.out0 = fault0.mot_brake
res0.freq = 5000
res0.phase = 0.9

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

SR60_2 #

Configuration Content #

link pid
link pmsm
link res_fb0
link jog_cmd
link misc
link sserial
linrev0.scale = 6
conf0.r = 25.5
conf0.l = 0.001
conf0.j = 0.000015
conf0.polecount = 4
conf0.mot_fb_offset = 0.8
conf0.max_ac_cur = 2.5
conf0.max_force = 0.7
conf0.max_vel = 1200
conf0.max_acc = 120000
io0.out0 = fault0.mot_brake
res0.freq = 5000
res0.phase = 0.9

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

SR60_3 #

Configuration Content #

link pid
link pmsm
link res_fb0
link jog_cmd
link misc
link sserial
linrev0.scale = 6
conf0.r = 25.5
conf0.l = 0.001
conf0.j = 0.000011
conf0.polecount = 4
conf0.mot_fb_offset = 0.8
conf0.max_ac_cur = 2.5
conf0.max_force = 0.7
conf0.max_vel = 1200
conf0.max_acc = 120000
io0.out0 = fault0.mot_brake
res0.freq = 5000
res0.phase = 0.9

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

SR60_4 #

Configuration Content #

link pid
link pmsm
link res_fb0
link jog_cmd
link misc
link sserial
linrev0.scale = 6
conf0.r = 7.6
conf0.l = 0.001
conf0.j = 0.00005
conf0.polecount = 4
conf0.mot_fb_offset = 0.8
conf0.max_ac_cur = 5.5
conf0.max_force = 1.5
conf0.max_vel = 104
conf0.max_acc = 10400
io0.out0 = fault0.mot_brake
res0.freq = 5000
res0.phase = 0.9

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

SR8-0 #

Configuration Content #

link pid
link pmsm
link res_fb0
link misc
link sserial
linrev0.scale = 3.6
sserial0.in0 = io0.ind0
sserial0.in1 = io0.ind1
conf0.r = 2
conf0.l = 0.003
conf0.j = 0.0004
conf0.polecount = 4
conf0.mot_fb_rev = 1
io0.out0 = fault0.mot_brake
conf0.max_ac_cur = 10
conf0.max_force = 3

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

SR8-1 #

Configuration Content #

link pid
link pmsm
link res_fb0
link misc
link sserial
linrev0.scale = -4.5
sserial0.in0 = io0.ind0
sserial0.in1 = io0.ind1
conf0.r = 2
conf0.l = 0.003
conf0.j = 0.000150
conf0.polecount = 4
conf0.mot_fb_rev = 1
io0.out0 = fault0.mot_brake
conf0.max_ac_cur = 10
conf0.max_force = 3

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

SR8-2 #

Configuration Content #

link pid
link pmsm
link res_fb0
link misc
link sserial
linrev0.scale = 12
sserial0.in0 = io0.ind0
sserial0.in1 = io0.ind1
conf0.r = 2
conf0.l = 0.007
conf0.j = 0.000015
conf0.mot_fb_offset = -0.900000
io0.out0 = fault0.mot_brake
conf0.max_ac_cur = 10
conf0.max_force = 3

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

SR8-3 #

Configuration Content #

link pid
link pmsm
link res_fb0
link misc
link sserial
linrev0.scale = 12
sserial0.in0 = io0.ind0
sserial0.in1 = io0.ind1
conf0.r = 2
conf0.l = 0.007
conf0.j = 0.000015
conf0.mot_fb_offset = -0.900000
io0.out0 = fault0.mot_brake
conf0.max_ac_cur = 10
conf0.max_force = 3

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

UF #

Configuration Content #

link pid
load uf
uf0.rt_prio = 2
uf0.un = 200
uf0.fn = 500
uf0.max_acc = 50
uf0.min_acc = 10
hv0.cmd_mode = 0
hv0.phase_mode = 2
hv0.pos = uf0.pos
hv0.d_cmd = uf0.ud
hv0.q_cmd = 0
term0.wave0 = hv0.d_cmd
term0.wave1 = hv0.id_fb
term0.wave2 = uf0.f_cmd
term0.wave3 = uf0.f_fb
term0.gain0 = 1
term0.gain2 = 1
term0.gain3 = 1

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

WAVETEST #

Configuration Content #

link pid
term0.wave0 = sim0.sin
term0.wave0 = sim0.sin
term0.wave1 = sim0.sin
term0.wave2 = sim0.sin
term0.wave3 = sim0.sin
term0.wave4 = sim0.sin
term0.wave5 = sim0.sin
term0.wave6 = sim0.sin
term0.wave7 = sim0.sin
term0.offset0 = 60.000000
term0.offset1 = 50.000000
term0.offset2 = 40.000000
term0.offset3 = 30.000000
term0.offset4 = 20.000000
term0.offset5 = 10.000000
term0.offset6 = 0.000000
term0.offset7 = -10.000000
term0.gain0 = 2.000000
term0.gain1 = 2.000000
term0.gain2 = 2.000000
term0.gain3 = 2.000000
term0.gain4 = 2.000000
term0.gain5 = 2.000000
term0.gain6 = 2.000000
term0.gain7 = 2.000000

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

WEILER-SPINDLE #

Configuration Content #

link pid
link acim
link enc_fb0
link misc
link sserial
conf0.r = 1.4
conf0.l = 0.0013
conf0.j = 0.01
conf0.max_force = 50
conf0.max_vel = 800
conf0.max_acc = 800
conf0.max_ac_cur = 23
conf0.mot_fb_res = 10000
conf0.mot_fb_rev = 1
acim_ttc0.slip_n = 11
acim_ttc0.cur_n = 12
acim_ttc0.torque_n = 50
acim_ttc0.mode = 1
conf0.polecount = 4
conf0.vel_p = 150
conf0.vel_i = 20
conf0.max_sat = 2
conf0.cur_p = 1
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.vel_ext_cmd = linrev0.cmd_d_out
ramp0.max_acc = 40
ramp0.max_speed = 160
ramp0.max_slip_speed = 50
acim_ttc0.mode = ramp0.mode
pid0.max_torque = 50
pid0.min_torque = -50
pid0.vel_ext_cmd = ramp0.vel_cmd
conf0.max_pos_error = 5
vel1.en = 1
linrev0.scale = 1
fb_switch0.mot_pos = enc_fb0.ipos

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

WEILER_X #

Configuration Content #

link pid
link pmsm
sleep 0.5
link enc_fb0
link misc
link sserial
#link jog_cmd
linrev0.scale = -3.5483870968
conf0.r = 0.4
conf0.l = 0.01
conf0.j = 0.00007
#0.000135 * (22/31)^2
conf0.j_load = 0.000068
conf0.j_lpf = 200
conf0.polecount = 2
conf0.max_force = 10
conf0.max_ac_cur = 10
conf0.mot_fb_res = 16384
conf0.mot_fb_offset = -2.6
fb_switch0.phase_cur = 7
fb_switch0.phase_time = 1
conf0.pos_p = 20
conf0.vel_i = 20

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

WEILER_Z #

Configuration Content #

link pid
link pmsm
sleep 0.5
link enc_fb0
link misc
link sserial
#link jog_cmd
linrev0.scale = -2.2
conf0.r = 0.4
conf0.l = 0.01
conf0.j = 0.000045
# 0.000622 * (22/50)^2
conf0.j_load = 0.00012
conf0.j_lpf = 200
conf0.polecount = 2
conf0.max_force = 10
conf0.max_ac_cur = 20
conf0.mot_fb_res = 16384
conf0.mot_fb_offset = -2.842850
fb_switch0.phase_cur = 7
conf0.pos_p = 20
conf0.vel_i = 20

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

WOBL #

Configuration Content #

link pid
link pmsm
link encm_fb0
link misc
conf0.r = 1.2
conf0.l = 0.005
conf0.j = 0.00005
conf0.polecount = 2
conf0.max_ac_cur = 10
conf0.max_force = 4
conf0.mot_fb_offset = 1.57
conf0.max_vel = 837
load avg
load avg
load avg
load debounce
load wobl
avg0.rt_prio = 10
avg1.rt_prio = 10
avg2.rt_prio = 10
debounce0.rt_prio = 10
wobl0.frt_prio = 10
debounce0.debounce_time = 1
debounce0.in = 1
fault0.en = debounce0.out
wobl0.en = debounce0.out
avg0.in = io0.in0
avg1.in = io0.in1
adc0.rt_prio = 1
avg2.in = adc0.cos1
wobl0.freq = avg0.out
wobl0.freq_diff = avg1.out
rev0.in = wobl0.pos
conf0.vel_g = 0.001

avg0.mult = 5.0
avg1.mult = 0.6
avg2.mult = 1
avg0.offset = -1.2
wobl0.home_pos = 0.0
wobl0.duty = 0.03
fb_switch0.offset_first_enable = 0
fb_switch0.track_fb = 1
conf0.max_pos_error = 0
wobl0.home_pos = 1.2
wobl0.amp = avg2.out
avg2.mult = 0.01

io0.out0 = 0
io0.out_freq = wobl0.out_freq
io0.out1 = wobl0.duty
io0.out2 = wobl0.duty

Source: Configuration File

Mon, 01 Jan 0001 00:00:00 +0000

XYTEST #

Configuration Content #

link pid
load sim
sim1.rt_prio = 1
term0.wave0 = sim0.sin
term0.wave1 = sim1.sin
sim1.freq = 2

Source: Configuration File