MOVE #

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_cor_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