SPINDLE_SLIP_UF #

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