CONF #

load conf

conf0.r = 1

conf0.l = 0.01

conf0.j = 0.000025

conf0.j_lpf = 100.0

conf0.psi = 0.055

conf0.polecount = 2

conf0.mot_fb_polecount = 1

conf0.mot_fb_res = 16384

conf0.com_fb_polecount = 1

conf0.com_fb_res = 16384

conf0.joint_fb_polecount = 1

conf0.joint_fb_res = 16384

conf0.high_mot_temp = 80

conf0.max_mot_temp = 100

conf0.phase_time = 0.5

conf0.phase_cur = 1

conf0.max_vel = 320

conf0.max_acc = 80000

conf0.max_force = 5

conf0.max_dc_cur = 15

conf0.max_ac_cur = 6

conf0.cmd_res = 16384

conf0.max_dc_volt = 380

conf0.max_hv_temp = 90

conf0.max_pos_error = 1.5

conf0.high_dc_volt = 350

conf0.low_dc_volt = 24

conf0.high_hv_temp = 70

conf0.fan_hv_temp = 50

conf0.pos_bw = 25

conf0.vel_bw = 250

conf0.vel_d = 5

conf0.vel_g = 0.1

conf0.torque_g = 1

conf0.cur_bw = 1000

conf0.max_sat = 0.2