UF #

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