HAL Templates on STMBLv5 Documentation

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

ACIM #

Configuration Content #

load acim_ttc
acim_ttc0.rt_prio = 9
pid0.max_torque = acim_ttc0.t_max
pid0.neg_min_torque = acim_ttc0.t_max
pid0.max_vel = conf0.max_vel
acim_ttc0.torque = pid0.torque_cmd
acim_ttc0.polecount = conf0.polecount
acim_ttc0.vel_m = vel1.vel
acim_ttc0.mode = 0
acim_ttc0.sensorless = 0
hv0.q_cmd = acim_ttc0.q_cmd
hv0.d_cmd = acim_ttc0.d_cmd
hv0.cmd_mode = acim_ttc0.cmd_mode
hv0.phase_mode = 2
hv0.pos = acim_ttc0.pos
hv0.vel = acim_ttc0.vel_e

Source: Configuration File

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

ACIM_FOC #

induction motor, rotor flux orientation on the encoder.
link after pid: link pid, link acim_foc. Needs in the config:
acim_flux0.tr, acim_flux0.lmr (idacim), acim_foc0.id_n,
conf0.l = sigma*Ls (leakage), conf0.lq 0, conf0.psi 0.
field weakening: acim_fw0.duty = hv0.duty (optional)
optional, all off by default; values that fit any motor:
acim_foc0.k_boost 2, acim_foc0.boost_max 0.3 (flux boost)
acim_flux0.tr_flux_min 0.95, tr_acc_max 0.3 (tr MRAS gates;
tr_ki is per motor, spindle 1e-4; tr_iq_min about 0.03 x id_n
to adapt at no load)
acim_flux0.lmr_sat from idacim; i_knee, tr_sat from a tr map
acim_flux0.lmr_ki 0.5: lmr trim, for checking lmr_sat
fluxopt0.min 0.5: light-load flux reduction (1 = off,
default); lower flux at idle, less torque on a
sudden load until the flux is back (tr)

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

COM_TEST #

Configuration Content #

fb_switch0.en = 1
term0.wave0 = sim0.vel
term0.wave1 = fb_switch0.com_fb_no_offset
term0.wave2 = fb_switch0.mot_abs_fb_no_offset
term0.wave3 = fb_switch0.com_fb
term0.gain2 = 20.000000
term0.gain3 = 20.000000
hv0.pos = sim0.vel
hv0.d_cmd = 1.000000
hv0.en = 1.000000
conf0.max_pos_error = 0

Source: Configuration File

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

CONF #

Configuration Content #

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 = 10
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 = 3000
conf0.max_sat = 0.2
conf0.high_ipm_temp = 125
conf0.max_ipm_temp = 140

Source: Configuration File

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

DC #

Configuration Content #

load dc_ttc
dc_ttc0.rt_prio = 9
dc_ttc0.psi = conf0.psi
dc_ttc0.torque = pid0.torque_cmd
hv0.d_cmd = 0
hv0.pos = 0
hv0.phase_mode = 3
hv0.q_cmd = dc_ttc0.cur
hv0.cmd_mode = 1
conf0.phase_time = 0
conf0.phase_cur = 0

Source: Configuration File

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

EN #

Configuration Content #

load en
en0.rt_prio = 2
en0.en_in = 1
fault0.en = en0.en_out0
en0.fault = fault0.fault
en0.time = 1

Source: Configuration File

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

ENC_CMD #

incremental position command: link enc_cmd. conf0.cmd_res =
counts per rev: quadrature lines x 4, step/dir steps per rev

Configuration Content #

# incremental position command: link enc_cmd. conf0.cmd_res =
# counts per rev: quadrature lines x 4, step/dir steps per rev
load enc_cmd
enc_cmd0.rt_prio = 2
enc_cmd0.res = conf0.cmd_res
rev0.in = enc_cmd0.pos
fault0.cmd_error = enc_cmd0.error
io0.cmdg = 1

Source: Configuration File

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

ENC_FB0 #

Configuration Content #

load enc_fb
adc0.rt_prio = 1
enc_fb0.rt_prio = 2
enc_fb0.res = conf0.mot_fb_res
enc_fb0.sin = adc0.sin0l
enc_fb0.cos = adc0.cos0l
enc_fb0.quad = adc0.quad
fb_switch0.mot_pos = enc_fb0.pos
fb_switch0.mot_abs_pos = enc_fb0.abs_pos
fb_switch0.mot_polecount = 1
fb_switch0.mot_state = enc_fb0.state
fault0.mot_fb_error = enc_fb0.error
io0.fb0y = enc_fb0.error
io0.fb0g = 1
enc_fb0.vel = vel1.vel
enc_fb0.amp = adc0.amp0
enc_fb0.en_index = 1

Source: Configuration File

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

ENCDMM_FB0 #

Configuration Content #

load dmm
dmm0.rt_prio = 2
fb_switch0.mot_pos = dmm0.pos
fb_switch0.mot_abs_pos = dmm0.pos
fb_switch0.mot_polecount = conf0.mot_fb_polecount
fb_switch0.mot_state = 3
fault0.mot_fb_error = dmm0.error
io0.fb0y = dmm0.error
io0.fb0g = 1

Source: Configuration File

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

ENCM_FB0 #

Configuration Content #

load encm
encm0.rt_prio = 2
fb_switch0.mot_pos = encm0.pos
fb_switch0.mot_abs_pos = encm0.pos
fb_switch0.mot_polecount = conf0.mot_fb_polecount
fb_switch0.mot_state = encm0.state
fault0.mot_fb_error = encm0.error
io0.fb0y = encm0.error
io0.fb0g = 1

Source: Configuration File

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

ENCS_FB0 #

Configuration Content #

load encs
encs0.rt_prio = 2
fb_switch0.mot_pos = encs0.pos
fb_switch0.mot_abs_pos = encs0.pos
fb_switch0.mot_polecount = conf0.mot_fb_polecount
fb_switch0.mot_state = encs0.state
fault0.mot_fb_error = encs0.error
io0.fb0y = encs0.error
io0.fb0g = 1

Source: Configuration File

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

ENCWS_FB0 #

Configuration Content #

link enc_fb0
link uvw_fb0
uvw0.mode = 1
enc_fb0.en_index = 0

Source: Configuration File

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

FANUC_FB0 #

Configuration Content #

load encf
encf0.rt_prio = 1
fb_switch0.com_pos = encf0.com_pos
fb_switch0.com_abs_pos = encf0.com_pos
fb_switch0.com_state = 3
fb_switch0.com_polecount = conf0.com_fb_polecount
conf0.com_fb_polecount = conf0.polecount
# commutation track: fb_switch commutates from com_pos + conf0.com_fb_offset
# until encf is indexed (state 3), e.g. after a battery loss before the first
# index crossing. id_pmsm prints conf0.com_fb_offset; append it to the config
fb_switch0.mot_pos = encf0.pos
fb_switch0.mot_abs_pos = encf0.abs_pos
fb_switch0.mot_state = encf0.state
# an index re-reference while enabled is held as an offset on encf0.pos/turns
# until disable, so the position loop does not jump
encf0.hold = fault0.en_out
fault0.mot_fb_error = encf0.error
fb_switch0.mot_polecount = 1
conf0.mot_fb_res = 1048576
io0.fb0y = encf0.error
io0.fb0g = 1

Source: Configuration File

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

FANUC_IO #

Configuration Content #

load fanuc
fanuc0.rt_prio = 2
fanuc0.C2 = io0.CTX
fanuc0.C1 = io0.C12
fanuc0.C4 = io0.CRX
fanuc0.C8 = io0.C54
io0.cmd_remap = 1
fb_switch0.com_pos = fanuc0.pos
fb_switch0.com_abs_pos = fanuc0.pos
fb_switch0.com_state = 2
fb_switch0.com_polecount = conf0.com_fb_polecount

Source: Configuration File

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

FILTERS #

torque command filters, opt-in: link filters
(after link pmsm). pid0.torque_cmd -> biquad0
-> dob0 -> pmsm_ttc0; both pass through as set
here (biquad0.type 0, dob0.k 0).
rt_prio must be set before start: a comp
loaded at runtime without it never runs
(torque 0, fault 6 at enable). At runtime:
stop, link filters, start.
acim/dc: relink acim_ttc0 / acim_foc0 /
dc_ttc0 .torque to dob0.out instead.

Configuration Content #

# torque command filters, opt-in: link filters
# (after link pmsm). pid0.torque_cmd -> biquad0
# -> dob0 -> pmsm_ttc0; both pass through as set
# here (biquad0.type 0, dob0.k 0).
# rt_prio must be set before start: a comp
# loaded at runtime without it never runs
# (torque 0, fault 6 at enable). At runtime:
# stop, link filters, start.
# acim/dc: relink acim_ttc0 / acim_foc0 /
# dc_ttc0 .torque to dob0.out instead.
load biquad
load dob
biquad0.rt_prio = 8.3
dob0.rt_prio = 8.4
biquad0.in = pid0.torque_cmd
dob0.in = biquad0.out
pmsm_ttc0.torque = dob0.out
# observers see the filtered command
vel1.torque = dob0.out
vel2.torque = dob0.out
pe0.torque = dob0.out
# notch: type 1, f0 = frf0.f_res from an
# id_frf sweep that brackets one mode,
# q 2, depth 0..0.1. Only above crossover.
biquad0.type = 0
# dob: j = total inertia (id_frf 5-60 Hz
# total, or conf0.j + conf0.j_sys). k 1 needs
# conf0.f/d/o = 0: dob estimates friction too
# and k 1 with the friction ff counts it twice.
# dob0.k = 0 before id_mot / id_sys: dob cancels
# the friction and offset they measure.
dob0.vel = vel1.vel
# j_sys is a safe lower bound (j 0 with k 1
# feeds the command back on itself); set the
# total per axis before k 1
dob0.j = conf0.j_sys
dob0.en = fault0.en_pid
dob0.bw = 20
dob0.k = 0
dob0.max = conf0.max_force
# standstill hold with dob: pid0.hold_en 2. the
# hold slews the compensation so the torque goes
# to hold_o; with conf0.o 0 on a vertical axis
# set dob0.hold_o to the id_sys o. dob0.max must
# leave room: abs(o) + f or more
dob0.hold = pid0.hold
dob0.hold_o = conf0.o

Source: Configuration File

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

FLUX_OBS #

Spindle bench (14 Oct, no load): shadow within 0.03 rad cold; trim kp_s 20
ki_s 2 follows the rotor temperature (k 1.0 cold, 1.07-1.11 after 20 min
at 2352 rpm) and holds pos_err within 0.02 rad. Not tested under a
cutting load yet.
hybrid rotor flux observer (B5), for an induction motor on an encoder.
link after acim_foc: link flux_obs. Loads in shadow: flux_obs0.pos_err
shows how far the current model’s orientation is off at speed (tr).
To trim the slip with it: flux_obs0.kp_s 20, flux_obs0.ki_s 2 (k follows
the rotor temperature, minutes; faster chases load transients) and
angle0.slip = flux_obs0.slip; flux_obs0.k is then true/modelled slip.
flux_obs0.wc: crossover to the voltage model [rad/s electrical]

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

HX #

Configuration Content #

load hx
hx0.rt_prio = 1.5
hx0.gain = 100

Source: Configuration File

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

ID_ACIM #

Configuration Content #


load idacim
idacim0.rt_prio = 4

idacim0.en = fault0.en_out
fault0.pos_error = 0
pid0.en = 0
hv0.en = idacim0.en_out
hv0.cur_bw = idacim0.cur_bw
hv0.cmd_mode = idacim0.cmd_mode
hv0.d_cmd = idacim0.d_cmd
hv0.q_cmd = idacim0.q_cmd
hv0.pos = idacim0.com_pos
hv0.vel = idacim0.com_vel
hv0.rev = idacim0.out_rev
hv0.r = idacim0.r
hv0.l = idacim0.l
hv0.lq = 0
hv0.psi = idacim0.psi
# identify with the dead time compensation off
hv0.drop_k = 0
idacim0.ud_fb = hv0.ud_fb
idacim0.id_fb = hv0.id_fb
idacim0.uq_fb = hv0.uq_fb
idacim0.iq_fb = hv0.iq_fb
idacim0.pwm_volt = hv0.pwm_volt
idacim0.dc_volt = hv0.dc_volt
idacim0.loop_bw = conf0.cur_bw
idacim0.vel_fb = vel1.vel
idacim0.pos_fb = fb_switch0.vel_fb

Source: Configuration File

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

ID_BRK #

breakaway torque at standstill only (idm0.brk_only): the test id_sys
ends with, with the drive’s own gains and conf0.o in the feedforward.
the trajectory holds the axis where it stands, idm ramps an extra torque
(idm0.brk_rate, 3 Nm/s) until the axis moves idm0.brk_win (0.002 rad),
positive then negative, and prints the static friction (half the
difference) and the static load (the mean, gravity on a vertical axis)
next to conf0.f and conf0.o. the axis moves brk_win each way and comes
back; about 15 s on a vertical axis. the velocity integrator is parked
for the run (pid0.vel_d = idm0.vel_d_pid, 1e6 while ramping).
starts on enable; disable to abort or clear. run it with dob0.k = 0
(dob cancels the ramp) and the brake released.

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

ID_DAC #

one shot hv0.dac search: prints hv0.dac for a trip at iddac0.cur
set conf0.max_ac_cur over 1.05 x cur (1.2 x in mode 1) first; reset afterwards

Configuration Content #

# one shot hv0.dac search: prints hv0.dac for a trip at iddac0.cur
# set conf0.max_ac_cur over 1.05 x cur (1.2 x in mode 1) first; reset afterwards
load iddac
iddac0.rt_prio = 4
iddac0.en = fault0.en_out
fault0.pos_error = 0
fault0.sat = 0
pid0.en = 0
fault0.hv_error = iddac0.hv_error
iddac0.hv_fault = hv0.fault
iddac0.max_cur = conf0.max_ac_cur
iddac0.com_pos = fb_switch0.com_fb
hv0.en = iddac0.en_out
hv0.cmd_mode = iddac0.cmd_mode
hv0.d_cmd = iddac0.d_cmd
hv0.q_cmd = iddac0.q_cmd
hv0.pos = iddac0.pos
hv0.dac = iddac0.dac
# 0 free axis (three angles), 1 loaded or blocked axis (rotor d axis)
iddac0.mode = 1
iddac0.cur = 20
# fast ramp: a slow one heats ipm0's junction model at a fixed angle and
# clamps the current before high trips (Z, 25 A at 20 A/s, 21 Oct)
iddac0.ramp = 200
# scope: current command and feedback (4/A), dac under test (0.25/count),
# hv fault code (4/code, 16 = HW overcurrent trip), search state (20/state)
term0.wave0 = iddac0.d_cmd
term0.gain0 = 4
term0.wave1 = hv0.id_fb
term0.gain1 = 4
term0.wave2 = iddac0.dac
term0.gain2 = 0.25
term0.wave3 = hv0.fault
term0.gain3 = 4
term0.wave4 = iddac0.state
term0.gain4 = 20

Source: Configuration File

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

ID_DC #

Configuration Content #


load iddc
iddc0.rt_prio = 4

iddc0.en = fault0.en_out
fault0.pos_error = 0
pid0.en = 0
hv0.en = iddc0.en_out
hv0.cur_bw = iddc0.cur_bw
hv0.cmd_mode = iddc0.cmd_mode
hv0.q_cmd = iddc0.q_cmd
hv0.pos = iddc0.com_pos
hv0.rev = iddc0.out_rev
hv0.r = iddc0.r
hv0.l = iddc0.l
hv0.lq = 0
hv0.phase_mode = 3
# iddc drives a brushed motor on q alone; r and l are its own outputs
iddc0.uq_fb = hv0.uq_fb
iddc0.iq_fb = hv0.iq_fb
iddc0.pwm_volt = hv0.pwm_volt

iddc0.pos_fb = fb_switch0.pos_fb
iddc0.vel_fb = vel1.vel

iddc0.vel_fb = vel1.vel

Source: Configuration File

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

ID_FRF #

measure the coupling with a stepped-sine FRF (comp frf) for conf0.j_lpf.
replaces id_lpf’s ring down: it fits a two-mass model to the whole curve
instead of timing one ring. needs the axis free to move: it goes back and
forth at frf0.creep_vel between frf0.min_pos and frf0.max_pos about where
it starts (both sides, rad), measures only while cruising, and ends where
it started. the sweep prints a table, then the fit and conf0.j_lpf.
creep_vel 3 rad/s keeps the load sliding through the sine near the
anti-resonance, where it swings most (1 rad/s read the mode 10 % low in
the sim). the lowest point needs one cruise: (max_pos - min_pos) / creep_vel
has to exceed about 3 s at f_start 5 Hz.
starts on enable like the other id templates (frf0.start follows the pid
enable, so the creep starts once the loop runs); disable to abort or to
clear a finished sweep. unlinked, frf0.start = 1 / 0 starts and stops it.
run it before id_pid: j_lpf changes the plant the gains are tuned against.

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

ID_LPF #

measure the coupling resonance for conf0.j_lpf (ids ring down, state 2.x).
needs conf0.j and conf0.j_sys from id_mot and id_sys. run it before id_pid:
j_lpf changes the plant the gains are tuned against. the axis goes
back and forth ids0.ring_reps times, in pairs at ids0.ring_vel and
1.5 x ring_vel rad/s, up to about 1.5 x ring_vel x ring_dwell rad each
way (15 rad), and ends where it started. the ring is timed at each
speed and a result needs both to agree, so speed ripple is not taken
for the coupling.
ids0.ring_vel = 0 twitches ids0.ring_pos rad from standstill instead,
which friction can stall before the ring is timed.

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

ID_MOT #

Configuration Content #


load idm
idm0.rt_prio = 4

idm0.en = fault0.en_out
idm0.pos_fb = fb_switch0.pos_fb
pid0.pos_ext_cmd = idm0.pos_cmd
pid0.vel_ext_cmd = idm0.vel_cmd
pid0.acc_ext_cmd = idm0.acc_cmd

pid0.j_mot = idm0.inertia
pid0.d = idm0.damping
pid0.f = idm0.friction
pid0.o = idm0.offset

# idm's estimators converge only with each estimate fed back into the
# feedforward, offset included. li 0.005 gives the offset loop a 25 s time
# constant, inside 1% on a ~110 s run.
idm0.li = 0.005

pid0.pos_bw = idm0.pos_bw
pid0.vel_bw = idm0.vel_bw
# vel_d_pid is vel_d, or 1e6 (velocity integrator parked) during the
# breakaway test (id_brk, or id_sys with idm0.brk 1)
pid0.vel_d = idm0.vel_d_pid

idm0.torque = pid0.torque_cmd
idm0.fb_torque = pid0.fb_torque_cmd
# breakaway test: the ramp torque, limited to max_force
pid0.torque_ext_cmd = idm0.torque_ext
idm0.brk_max = conf0.max_force
idm0.cur_cmd = hv0.q_cmd
idm0.cur_fb = hv0.iq_fb
idm0.scale = fault0.scale

vel1.torque = 0
vel2.torque = 0

# the bare motor: conf0.j_sys would add the coupled axis's inertia
pid0.j_sys = 0

conf0.max_pos_error = 0
conf0.max_sat = 10
conf0.vel_g = 1

term0.wave0 = idm0.pos_cmd
term0.wave2 = idm0.vel_cmd
term0.wave4 = pid0.fb_torque_cmd
term0.gain4 = 100

term0.send_step = 21

Source: Configuration File

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

ID_PID #

Configuration Content #


load ids
ids0.rt_prio = 4

ids0.en = fault0.en_out
pid0.pos_ext_cmd = ids0.pos_cmd
pid0.vel_ext_cmd = ids0.vel_cmd
pid0.acc_ext_cmd = ids0.acc_cmd

pid0.pos_bw = ids0.pos_bw
pid0.vel_bw = ids0.vel_bw
pid0.vel_d = ids0.vel_d

ids0.pos_error = pid0.pos_error
ids0.vel_error = pid0.vel_error

ids0.cur_bw = conf0.cur_bw
ids0.pos_fb = fb_switch0.pos_fb
ids0.torque = pid0.torque_cmd
ids0.fb_torque = pid0.fb_torque_cmd
ids0.max_torque = conf0.max_force
ids0.sat = pid0.sat
ids0.pos_bw0 = conf0.pos_bw
ids0.vel_bw0 = conf0.vel_bw
ids0.vel_d0 = conf0.vel_d
# speed mode (pid0.pos_en 0): vel_bw from speed noise and a load step
ids0.pos_en = pid0.pos_en
pid0.torque_ext_cmd = ids0.torque_dist
ids0.acc_lim = conf0.max_acc
ids0.vel_lim = conf0.max_vel

conf0.max_pos_error = 0
conf0.max_sat = 10
conf0.vel_g = 1

term0.wave0 = ids0.pos_cmd
term0.wave2 = ids0.vel_cmd
term0.wave4 = ids0.min_cost
term0.gain4 = 20
#term0.wave1 = ids0.cost
#term0.gain1 = 20

term0.wave5 = ids0.pos_bw
term0.gain5 = 1.0;
term0.wave6 = ids0.vel_bw
term0.gain6 = 0.1
term0.wave7 = ids0.vel_d
term0.gain7 = 10.0

term0.send_step = 21

Source: Configuration File

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

ID_PMSM #

Configuration Content #


load idpmsm
idpmsm0.rt_prio = 4

idpmsm0.en = fault0.en_out
fault0.pos_error = 0
fault0.sat = 0
pid0.en = 0
hv0.en = idpmsm0.en_out
hv0.cur_bw = idpmsm0.cur_bw
idpmsm0.loop_bw = conf0.cur_bw
hv0.cmd_mode = idpmsm0.cmd_mode
hv0.d_cmd = idpmsm0.d_cmd
hv0.q_cmd = idpmsm0.q_cmd
hv0.pos = idpmsm0.com_pos
hv0.rev = idpmsm0.out_rev
hv0.r = idpmsm0.r
hv0.l = idpmsm0.l
hv0.lq = idpmsm0.lq
# identify with the dead time compensation off
hv0.drop_k = 0
idpmsm0.ud_fb = hv0.ud_fb
idpmsm0.uq_fb = hv0.uq_fb
idpmsm0.id_fb = hv0.id_fb
idpmsm0.iq_fb = hv0.iq_fb
idpmsm0.pwm_volt = hv0.pwm_volt
idpmsm0.dc_volt = hv0.dc_volt
idpmsm0.pwm_freq = hv0.pwm_freq
idpmsm0.u_fb = hv0.u_fb
idpmsm0.v_fb = hv0.v_fb
# per pole back emf map on the psi test's coast, summed on the f3 (emf0)
hv0.emf_run = idpmsm0.emf_run
hv0.emf_sel = idpmsm0.emf_sel
hv0.emf_pp = idpmsm0.emf_pp
idpmsm0.emf_val = hv0.emf_val

idpmsm0.pos_fb = fb_switch0.mot_abs_fb_no_offset
idpmsm0.mot_state = fb_switch0.mot_state_fb
idpmsm0.com_fb = fb_switch0.com_fb_no_offset
idpmsm0.com_rev = conf0.com_fb_rev
idpmsm0.com_polecount = conf0.com_fb_polecount
idpmsm0.vel_fb = vel1.vel
# runtime links are not flattened like the boot config: a = b, b = c -> a = c,
# so idpmsm0.com_polecount reads conf0.polecount through conf0.com_fb_polecount
relink

Source: Configuration File

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

ID_SYS #

Configuration Content #


link id_mot
pid0.j_mot = conf0.j
pid0.j_sys = idm0.inertia
idm0.sys = 1

Source: Configuration File

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

ID_SYS_SL #

id_sys without the encoder: link pid, link acim_foc, link sl_acim, link id_sys_sl.
idm sweeps vel_offset +- max_vel (default 125 +- 75 = 50..200 rad/s), one
direction, so sl_seq stays on the observer. idm starts once pid is enabled.
J and d come out as usual. f and o are both a constant torque here and
split arbitrarily: read f + o, and take f from an encoder run.
Set sl_seq0.acc >= idm0.max_acc, or sl_seq’s ramp cuts the profile.

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

ID_TUNE #

Configuration Content #

load idtune
idtune0.rt_prio = 4

# run after id_pmsm, with its results in the config. hv0.pos and hv0.vel stay
# on the running path, so the angle tuned is the angle that runs.
idtune0.en = fault0.en_out
fault0.pos_error = 0
fault0.sat = 0
pid0.en = 0
hv0.en = idtune0.en_out
hv0.cmd_mode = idtune0.cmd_mode
hv0.d_cmd = idtune0.d_cmd
hv0.q_cmd = idtune0.q_cmd
hv0.adv = idtune0.adv
# before hv0.drop_k is pointed at id_tune: the config's drop_k, kept when
# drop_knee > 0
idtune0.drop_k_cfg = hv0.drop_k
idtune0.drop_knee = hv0.drop_knee
hv0.drop_k = idtune0.drop_k
idtune0.ud_fb = hv0.ud_fb
idtune0.uq_fb = hv0.uq_fb
idtune0.id_fb = hv0.id_fb
idtune0.iq_fb = hv0.iq_fb
idtune0.dc_volt = hv0.dc_volt
idtune0.vel_fb = vel1.vel
idtune0.vel_e = vel2.vel
idtune0.r = conf0.r
idtune0.l = conf0.l
idtune0.lq = conf0.lq

Source: Configuration File

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

IPM #

bridge junction temperature model and its derate. The motor templates (pid,
uf and vf) link this at their end, so a config doesn’t: a second
link ipm loads an ipm1 nothing reads. The defaults are for the IKCM30F60GD;
link ipm_im06b50gc1 after the motor template for that module.
conf0.high_ipm_temp starts the derate, conf0.max_ipm_temp trips.

Configuration Content #

# bridge junction temperature model and its derate. The motor templates (pid,
# uf and vf) link this at their end, so a config doesn't: a second
# link ipm loads an ipm1 nothing reads. The defaults are for the IKCM30F60GD;
# link ipm_im06b50gc1 after the motor template for that module.
# conf0.high_ipm_temp starts the derate, conf0.max_ipm_temp trips.
load ipm
ipm0.rt_prio = 13
ipm0.id = hv0.id_fb
ipm0.iq = hv0.iq_fb
ipm0.ud = hv0.ud_fb
ipm0.uq = hv0.uq_fb
ipm0.dc_volt = hv0.dc_volt
ipm0.f_sw = hv0.pwm_freq
ipm0.case_temp = hv0.hv_temp
ipm0.pos = hv0.pos
fault0.ipm_temp = ipm0.temp
fault0.high_ipm_temp = conf0.high_ipm_temp
fault0.max_ipm_temp = conf0.max_ipm_temp

Source: Configuration File

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

IPM_IKCM30F60GD #

IKCM30F60GD, the module fitted to v5.0: ipm.c’s own defaults, so linking
this after another module’s template restores them. Change both together.
rth_i and rth_d are the datasheet Rth(J-C), 1.58 and 2.05 K/W, times 1.5.

Configuration Content #

# IKCM30F60GD, the module fitted to v5.0: ipm.c's own defaults, so linking
# this after another module's template restores them. Change both together.
# rth_i and rth_d are the datasheet Rth(J-C), 1.58 and 2.05 K/W, times 1.5.
ipm0.f_sw = hv0.pwm_freq
ipm0.e_volt = 300
ipm0.v_tc = 0.00155

ipm0.vi = 0.667
ipm0.ri = 0.0442
ipm0.ei = 56.65e-6
ipm0.ei_tc = 0.00316
ipm0.rth_i = 2.37

ipm0.vd = 0.729
ipm0.rd = 0.0306
ipm0.ed = 4.75e-6
ipm0.ed_tc = 0.00665
ipm0.rth_d = 3.08

ipm0.tau1 = 0.00041
ipm0.tau2 = 0.0143
ipm0.tau3 = 0.229
ipm0.fi1 = 0.054
ipm0.fi2 = 0.170
ipm0.fd1 = 0.110
ipm0.fd2 = 0.247

Source: Configuration File

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

IPM_IM06B50GC1 #

IM06B50GC1, 600 V 50 A, pin and package compatible with the IKCM30F60GD.
Device values are the datasheet’s (V 1.20). rth is the datasheet Rth(J-C),
0.6 and 1.0 K/W, times 2.84: ipm.c fitted to the part’s SOA chart (Fig. 12,
15 kHz, 300 V, MI 0.8, PF 0.8, Tj 150 C) needs 2.63 at Tc 80 C, 1.74 at
125 C and 2.84 with the line extended to 30 C, a water cooled case.
ABS_MAX_CURRENT is unchanged.

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

JOG_CMD #

Configuration Content #

load jog
load stp
jog0.rt_prio = 2
stp0.rt_prio = 2.1
stp0.jog = jog0.jog
rev0.in = stp0.mpos
fault0.cmd_error = 0

Source: Configuration File

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

MELODY #

Overview #

Template for the melody component: tunes, a ready chime and identify
played as a tone on the motor’s d-axis current.

How It Works #

melody0 sits between the field current and hv: melody0.in takes
pmsm_ttc0.id (what pmsm links to hv0.d_cmd: the phasing current plus
the MTPA d current) and hv0.d_cmd takes melody0.out, which is in plus
the tone. rt_prio 9.5 runs it after pmsm_ttc (9) and before hv (10). The
tone makes the stator hum without torque (with the commutation offset
right).

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

MISC #

Configuration Content #

term0.wave0 = reslimit0.pos_out
term0.wave1 = fb_switch0.plot_fb_pos
term0.wave2 = vel0.vel
term0.wave3 = vel1.vel
term0.gain0 = 20
term0.gain1 = 20
term0.gain2 = 1
term0.gain3 = 1

Source: Configuration File

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

OBS_CHECK #

observer shadow check, on the encoder: link pid, link pmsm, link obs_check.
obs0.pos_err: observer minus the encoder angle.

Configuration Content #

# observer shadow check, on the encoder: link pid, link pmsm, link obs_check.
# obs0.pos_err: observer minus the encoder angle.
load obs
obs0.rt_prio = 9.4
obs0.r = conf0.r
obs0.ld = conf0.l
obs0.lq = conf0.lq
obs0.polecount = conf0.polecount
obs0.adv = hv0.adv
obs0.id = hv0.id_fb
obs0.iq = hv0.iq_fb
obs0.ud = hv0.ud_fb
obs0.uq = hv0.uq_fb
obs0.pos_ref = angle0.pos
obs0.vel_ref = angle0.vel
obs0.slip = 0
obs0.track = 0
term0.wave0 = obs0.pos_err
term0.wave1 = obs0.err
term0.wave2 = obs0.eq
term0.wave3 = obs0.ok
term0.gain0 = 10
term0.gain1 = 10
term0.gain2 = 0.1
term0.gain3 = 1

Source: Configuration File

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

OCDAC #

Configuration Content #

load ocdac
hv0.dac = ocdac0.dac
ocdac0.cur = 20

Source: Configuration File

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

PID #

Configuration Content #

load adc
load reslimit
load rev
load fb_switch
load vel
load vel
load vel
load pid
load fault
load hv
load sim
load io
load iit
load pe
load angle
link conf
hv0.rt_prio = 10
rev0.rt_prio = 4
# after rev0: before it, pid0.pos_ext_cmd would read rev0.out a tick late
# while vel0's feedforward is current, a pos_error of acc * 200 us / pos_bw
reslimit0.rt_prio = 4.5
fb_switch0.rt_prio = 5
vel0.rt_prio = 6
vel1.rt_prio = 6
vel2.rt_prio = 6
io0.rt_prio = 7
io0.frt_prio = 3
pid0.rt_prio = 8
angle0.rt_prio = 9.5
fault0.rt_prio = 10
iit0.rt_prio = 13
sim0.rt_prio = 13
term0.rt_prio = 16
rev0.rev = conf0.cmd_rev
fb_switch0.mot_rev = conf0.mot_fb_rev
fb_switch0.com_rev = conf0.com_fb_rev
fb_switch0.joint_rev = conf0.joint_fb_rev
reslimit0.res = conf0.mot_fb_res
vel1.j = conf0.j
vel2.j = conf0.j
pid0.j_mot = conf0.j
pid0.d = conf0.d
pid0.f = conf0.f
pid0.o = conf0.o
# standstill hold (pid0.hold_en, default 0 = off): at rest the torque
# goes to o instead of staying where stiction froze it. 1 without dob,
# 2 with dob (filters.txt links dob0.hold)
pid0.hold_o = conf0.o
pid0.j_sys = conf0.j_sys
pid0.j_lpf = conf0.j_lpf
pid0.pos_bw = conf0.pos_bw
pid0.vel_bw = conf0.vel_bw
pid0.vel_d = conf0.vel_d
pid0.vel_g = conf0.vel_g
pid0.torque_g = conf0.torque_g
pid0.max_vel = conf0.max_vel
pid0.neg_min_vel = conf0.max_vel
pid0.max_acc = conf0.max_acc
pid0.max_torque = conf0.max_force
pid0.neg_min_torque = conf0.max_force
fault0.max_sat = conf0.max_sat
fault0.max_pos_error = conf0.max_pos_error
fault0.max_dc_cur = conf0.max_dc_cur
fault0.max_ac_cur = conf0.max_ac_cur
fault0.max_dc_volt = conf0.max_dc_volt
fault0.high_dc_volt = conf0.high_dc_volt
fault0.min_dc_volt = conf0.low_dc_volt
fault0.max_hv_temp = conf0.max_hv_temp
fault0.max_mot_temp = conf0.max_mot_temp
fault0.high_hv_temp = conf0.high_hv_temp
fault0.high_mot_temp = conf0.high_mot_temp
fault0.fan_hv_temp = conf0.fan_hv_temp
fault0.fan_mot_temp = conf0.fan_mot_temp
fault0.ac_cur = hv0.abs_cur
hv0.rev = conf0.out_rev
hv0.r = conf0.r
hv0.l = conf0.l
hv0.lq = conf0.lq
hv0.psi = conf0.psi
hv0.cur_bw = conf0.cur_bw
hv0.cur_ff = conf0.cur_ff
hv0.cur_ind = conf0.cur_ind
hv0.max_cur = conf0.max_ac_cur
reslimit0.pos_in = rev0.out
fb_switch0.cmd_pos = reslimit0.pos_out
fb_switch0.polecount = conf0.polecount
fb_switch0.en = fault0.en_fb
fb_switch0.mot_polecount = conf0.mot_fb_polecount
fb_switch0.com_polecount = conf0.com_fb_polecount
fb_switch0.mot_offset = conf0.mot_fb_offset
fb_switch0.joint_offset = conf0.joint_fb_offset
fb_switch0.com_offset = conf0.com_fb_offset
fb_switch0.phase_time = conf0.phase_time
fb_switch0.phase_cur = conf0.phase_cur
vel0.pos_in = rev0.out
vel0.en = fault0.en_fb
vel1.pos_in = fb_switch0.vel_fb
vel1.en = fault0.en_fb
vel1.torque = pid0.torque_cmd
vel2.pos_in = fb_switch0.com_fb
vel2.en = fault0.en_fb
vel2.torque = pid0.torque_cmd
pid0.en = fault0.en_pid
pid0.pos_ext_cmd = reslimit0.pos_out
pid0.vel_ext_cmd = vel0.vel
pid0.acc_ext_cmd = vel0.acc
pid0.pos_fb = fb_switch0.pos_fb
pid0.vel_fb = vel1.vel
rev0.in_d = vel0.vel
fault0.pos_error = pid0.pos_error
fault0.sat = pid0.sat
fault0.dc_volt = hv0.dc_volt
fault0.hv_temp = hv0.hv_temp
fault0.dc_cur = hv0.dc_cur
fault0.hv_error = hv0.fault
fault0.fb_ready = fb_switch0.state
hv0.en = fault0.en_out
hv0.sbrake = fault0.sbrake
hv0.sbrake_arm = fault0.sbrake_en
fault0.vel_fb = vel1.vel
pid0.stop = fault0.rstop
angle0.pos_fb = vel2.pos_out
angle0.vel_fb = vel2.vel
hv0.pos = angle0.pos
hv0.vel = angle0.vel
hv0.scale = fault0.scale
io0.fan = fault0.hv_fan
io0.fault = fault0.fault
io0.state = fault0.state
pe0.udc = hv0.dc_volt
pe0.idc = 0
pe0.ud = 0
pe0.uq = 0
pe0.id = hv0.id_fb
pe0.iq = hv0.iq_fb
pe0.torque = pid0.torque_cmd
pe0.vel = vel1.vel
pe0.r = conf0.r
pe0.j = conf0.j
pe0.cap = 0.00054
iit0.max_temp = conf0.max_mot_temp
iit0.high_temp = conf0.high_mot_temp
iit0.max_cur = conf0.max_ac_cur
fault0.mot_temp = iit0.temp
iit0.cur = hv0.abs_cur
# bridge junction model and derate, conf0.high_ipm_temp and max_ipm_temp
link ipm

Source: Configuration File

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

PMSM #

Configuration Content #

load pmsm_ttc
pmsm_ttc0.rt_prio = 9
pmsm_ttc0.psi = conf0.psi
pmsm_ttc0.polecount = conf0.polecount
pmsm_ttc0.pos_in = vel2.pos_out
pmsm_ttc0.torque = pid0.torque_cmd
# pmsm_ttc0.mtpa 1: id/iq split for the least current per torque (ld != lq)
pmsm_ttc0.ld = conf0.l
pmsm_ttc0.lq = conf0.lq
pmsm_ttc0.id_in = fb_switch0.id
hv0.d_cmd = pmsm_ttc0.id
hv0.q_cmd = pmsm_ttc0.cur
hv0.cmd_mode = 1
hv0.phase_mode = 2
angle0.pos_fb = pmsm_ttc0.pos_out
hv0.pos = angle0.pos

Source: Configuration File

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

POS_FILTER #

Configuration Content #

load pos_filter
pos_filter-1.rt_prio = 6
vel0.rt_prio = 0
pos_filter-1.en = fault0.en_fb
pos_filter-1.pos_in = rev0.out
pos_filter-1.vel_in = rev0.out_d
pos_filter-1.bandwidth = 1000
term0.wave2 = pos_filter-1.vel_out
reslimit0.pos_in = pos_filter-1.pos_out
pid0.vel_ext_cmd = pos_filter-1.vel_out
pid0.acc_ext_cmd = pos_filter-1.acc_out

Source: Configuration File

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

RES_FB0 #

Configuration Content #

load res
adc0.rt_prio = 1
res0.rt_prio = 2
res0.sin = adc0.sin0
res0.cos = adc0.cos0
adc0.res_mode = res0.res_mode
res0.quad = adc0.quad
res0.poles = conf0.mot_fb_polecount
fb_switch0.mot_pos = res0.pos
fb_switch0.mot_abs_pos = res0.pos
fb_switch0.mot_polecount = conf0.mot_fb_polecount
fb_switch0.mot_state = res0.state
fault0.mot_fb_error = res0.error
res0.vel = vel1.vel
io0.fb0y = res0.error
io0.fb0g = 1

Source: Configuration File

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

RL #

Configuration Content #

link pid
link pmsm
conf0.max_ac_cur = 15
load rl
rl0.rt_prio = 6
hv0.en = rl0.en_out
hv0.d_cmd = rl0.ud_cmd
hv0.q_cmd = rl0.uq_cmd
rl0.id_fb = hv0.id_fb
rl0.iq_fb = hv0.iq_fb
rl0.ud_fb = hv0.ud_fb
rl0.uq_fb = hv0.uq_fb
hv0.cmd_mode = 0
hv0.pos = 0
term0.wave0 = rl0.ud_cmd
term0.wave1 = hv0.id_fb
term0.wave2 = rl0.r
term0.wave3 = rl0.ld
term0.gain0 = 5
term0.gain1 = 5
term0.gain2 = 30
term0.gain3 = 3000

Source: Configuration File

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

SENSORLESS #

sensorless start and observer, common part. Use sl_pmsm or sl_acim.

Configuration Content #

# sensorless start and observer, common part. Use sl_pmsm or sl_acim.
load obs
load sl_seq
sl_seq0.rt_prio = 9.3
obs0.rt_prio = 9.4
obs0.r = conf0.r
obs0.ld = conf0.l
obs0.lq = conf0.lq
obs0.polecount = conf0.polecount
obs0.adv = hv0.adv
obs0.id = hv0.id_fb
obs0.iq = hv0.iq_fb
obs0.ud = hv0.ud_fb
obs0.uq = hv0.uq_fb
obs0.pos_ref = angle0.pos
obs0.vel_ref = angle0.vel
obs0.track = sl_seq0.track
sl_seq0.en = fault0.en_pid
sl_seq0.vel_cmd = vel0.vel
sl_seq0.polecount = conf0.polecount
sl_seq0.obs_ok = obs0.ok
sl_seq0.obs_vel = obs0.vel_m
sl_seq0.e_min = obs0.e_min
pid0.en = sl_seq0.pid_en
pid0.pos_en = 0
pid0.vel_fb = obs0.vel_m
pid0.vel_ext_cmd = sl_seq0.vel_ref
pid0.acc_ext_cmd = sl_seq0.acc_ref
angle0.src = sl_seq0.src
angle0.vel_cmd = sl_seq0.vel_e
angle0.pos_obs = obs0.pos_c
angle0.vel_obs = obs0.vel
hv0.d_cmd = sl_seq0.d_cmd
hv0.q_cmd = sl_seq0.q_cmd
term0.wave0 = sl_seq0.state
term0.wave1 = obs0.chk_err
term0.wave2 = obs0.vel_m
term0.wave3 = hv0.iq_fb
term0.gain0 = 10
term0.gain1 = 10
term0.gain2 = 0.05
term0.gain3 = 1

Source: Configuration File

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

SL_ACIM #

induction motor sensorless: link pid, link acim_foc, link sl_acim.
obs uses conf0.l = sigma*Ls for both axes (conf0.lq 0). chk_err is not
meaningful here: the encoder angle is the rotor’s, not the flux’s.
From the motor values: i_f = id_n, align_time 3 * tr, w_hand where the
emf is 5 * obs0.e_min, hyst w_hand / 3 (sl_seq0.align, hand show them);
a value in the config wins. obs0.bw = 5 * w_hand * polecount (sl_seq0.obs_bw).
Optional, with a spindle encoder: sl_seq0.vel_enc = <encoder speed,
e.g. vel1.vel>, sl_seq0.enc_tol 1 (multiple of acim_flux0.slip_max);
then acim_flux0.tr_ks 1 trims tr from the slip error in steady holds.
command through ramp0: sl_seq0.vel_cmd = ramp0.vel_cmd (sensorless
links vel0.vel); pid takes sl_seq0.vel_ref, keep no pid0.vel_ext_cmd line.

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

SL_PMSM #

PMSM without the encoder in the loop: link pid, link pmsm, link sl_pmsm.
The encoder stays for fb_ready and for obs0.chk_err (observer vs encoder).
Set in the config: sl_seq0.i_f, sl_seq0.acc, obs0.bw. w_hand 0 = where
the emf is 5 * obs0.e_min (from conf0.psi), hyst w_hand / 3.

Configuration Content #

# PMSM without the encoder in the loop: link pid, link pmsm, link sl_pmsm.
# The encoder stays for fb_ready and for obs0.chk_err (observer vs encoder).
# Set in the config: sl_seq0.i_f, sl_seq0.acc, obs0.bw. w_hand 0 = where
# the emf is 5 * obs0.e_min (from conf0.psi), hyst w_hand / 3.
link sensorless
sl_seq0.psi = conf0.psi
sl_seq0.d_in = pmsm_ttc0.id
sl_seq0.q_in = pmsm_ttc0.cur
obs0.slip = 0
obs0.pos_chk = pmsm_ttc0.pos_out

Source: Configuration File

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

SMARTABS_FB0 #

Configuration Content #

load smartabs
smartabs0.rt_prio = 0.8
fb_switch0.mot_pos = smartabs0.pos
fb_switch0.mot_abs_pos = smartabs0.pos
fb_switch0.mot_polecount = conf0.mot_fb_polecount
fb_switch0.mot_state = smartabs0.state
fault0.mot_fb_error = smartabs0.error
io0.fb0y = smartabs0.error
io0.fb0g = 1

Source: Configuration File

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

SSERIAL #

Configuration Content #

load sserial
load vel_int
load linrev
load idx_home
sserial0.rt_prio = 2.3
sserial0.frt_prio = 2.0
linrev0.rt_prio = 2.1
vel_int0.rt_prio = 2.2
idx_home0.rt_prio = 2.05
linrev0.cmd_in = sserial0.pos_cmd
linrev0.cmd_d_in = sserial0.pos_cmd_d
vel_int0.pos_in = linrev0.cmd_out
vel_int0.vel_in = linrev0.cmd_d_out
fault0.en = sserial0.enable
sserial0.fault = fault0.fault
sserial0.fault_code = fault0.last_fault
fault0.cmd_error = sserial0.error
linrev0.fb_in = idx_home0.pos_out
linrev0.fb_d_in = vel1.vel
idx_home0.fb = fb_switch0.mot_fb_no_offset
idx_home0.fb_abs = fb_switch0.mot_abs_fb_no_offset
idx_home0.index_en = sserial0.index_out
idx_home0.mot_state = fb_switch0.mot_state_fb
sserial0.index_clear = idx_home0.index_clear
linrev0.rev_clear = sserial0.index_clear
linrev0.abs_neg = conf0.mot_fb_rev
sserial0.pos_fb = linrev0.fb_out
sserial0.vel_fb = linrev0.fb_d_out
# feedback timing: tune per axis, tools/sserial_advance.py
sserial0.pos_advance = 0.0003
rev0.in = vel_int0.pos_out
rev0.in_d = vel_int0.vel_out
pid0.vel_ext_cmd = rev0.out_d
# acceleration feedforward from the host frames (pid.txt
# links vel0.acc, 0 here: vel0 is off)
vel_int0.max_acc = conf0.max_acc
rev0.in_dd = vel_int0.acc_out
pid0.acc_ext_cmd = rev0.out_dd
vel_int0.wd = 0.002
# frame clock: host jitter off the command
vel_int0.sync_k = 0.05
vel0.en = 0
velbuf0.rt_prio = 0
io0.cmdy = sserial0.error
io0.cmdg = 1
sserial0.in0 = io0.ind0
sserial0.in1 = io0.ind1
io0.out0 = sserial0.out0
io0.out1 = sserial0.out1
io0.out2 = sserial0.out2
fault0.brake_release = sserial0.out3
term0.wave2 = linrev0.cmd_d_out
sserial0.current = hv0.iq_fb
linrev0.scale = sserial0.scale
io0.clock_scale = sserial0.clock_scale

Source: Configuration File

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

SSERIAL_DUMMY #

Configuration Content #

load sserial
load vel_int
load linrev
load idx_home
sserial0.rt_prio = 2.3
sserial0.frt_prio = 2.0
linrev0.rt_prio = 2.1
vel_int0.rt_prio = 2.2
idx_home0.rt_prio = 2.05
linrev0.cmd_in = sserial0.pos_cmd
linrev0.cmd_d_in = sserial0.pos_cmd_d
vel_int0.pos_in = linrev0.cmd_out
vel_int0.vel_in = linrev0.cmd_d_out
linrev0.fb_in = linrev0.cmd_out
linrev0.fb_d_in = linrev0.cmd_d_out
sserial0.index_clear = idx_home0.index_clear
linrev0.rev_clear = sserial0.index_clear
linrev0.abs_neg = conf0.mot_fb_rev
sserial0.pos_fb = linrev0.fb_out
sserial0.vel_fb = linrev0.fb_d_out
# feedback timing: tune per axis, tools/sserial_advance.py
sserial0.pos_advance = 0.0003
pid0.vel_ext_cmd = rev0.out_d
# acceleration feedforward from the host frames (pid.txt
# links vel0.acc, 0 here: vel0 is off)
vel_int0.max_acc = conf0.max_acc
rev0.in_dd = vel_int0.acc_out
pid0.acc_ext_cmd = rev0.out_dd
vel_int0.wd = 0.002
# frame clock: host jitter off the command
vel_int0.sync_k = 0.05
io0.cmdy = sserial0.error
io0.cmdg = 1
linrev0.scale = 6

Source: Configuration File

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

SSERIAL_UF #

Configuration Content #

load sserial
sserial0.rt_prio = 2.0
sserial0.frt_prio = 2.0
fault0.en = sserial0.enable
sserial0.fault = fault0.fault
sserial0.fault_code = fault0.last_fault
fault0.cmd_error = sserial0.error
sserial0.vel_fb = avg0.out
# no position feedback: report pos_fb 0, not vel_fb extrapolated
sserial0.pos_extrap = 0
io0.cmdy = sserial0.error
io0.cmdg = 1
sserial0.in0 = io0.ind0
sserial0.in1 = io0.ind1
io0.out0 = sserial0.out0
io0.out1 = sserial0.out1
io0.out2 = sserial0.out2
fault0.brake_release = sserial0.out3
term0.wave2 = linrev0.cmd_d_out
avg0.in = sserial0.pos_cmd_d
sserial0.current = hv0.abs_cur

Source: Configuration File

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

UF #

deprecated: use vf.txt or vf_enc.txt instead.
known faults in shared/comps/uf2.c (header)

Configuration Content #

# deprecated: use vf.txt or vf_enc.txt instead.
# known faults in shared/comps/uf2.c (header)
load adc
load fault
load hv
load sim
load io
load iit
link conf
load uf
hv0.rt_prio = 0.9
hv0.frt_prio = 1
uf0.rt_prio = 6
io0.rt_prio = 7
fault0.rt_prio = 10
iit0.rt_prio = 13
sim0.rt_prio = 13
term0.rt_prio = 16
fault0.max_sat = conf0.max_sat
fault0.max_pos_error = conf0.max_pos_error
fault0.max_dc_cur = conf0.max_dc_cur
fault0.max_ac_cur = conf0.max_ac_cur
fault0.max_dc_volt = conf0.max_dc_volt
fault0.high_dc_volt = conf0.max_dc_volt
fault0.min_dc_volt = conf0.low_dc_volt
fault0.max_hv_temp = conf0.max_hv_temp
fault0.max_mot_temp = conf0.max_mot_temp
fault0.high_hv_temp = conf0.high_hv_temp
fault0.high_mot_temp = conf0.high_mot_temp
fault0.fan_hv_temp = conf0.fan_hv_temp
fault0.fan_mot_temp = conf0.fan_mot_temp
fault0.ac_cur = hv0.abs_cur
hv0.rev = conf0.out_rev
hv0.r = conf0.r
hv0.l = conf0.l
hv0.lq = conf0.lq
hv0.psi = conf0.psi
hv0.cur_bw = conf0.cur_bw
hv0.cur_ff = conf0.cur_ff
hv0.cur_ind = conf0.cur_ind
hv0.max_cur = conf0.max_ac_cur
uf0.polecount = conf0.polecount
uf0.scale = fault0.scale
uf0.cur = hv0.abs_cur
hv0.pos = uf0.com_pos
hv0.d_cmd = uf0.u_cmd
hv0.cmd_mode = 0
hv0.phase_mode = 2
fault0.dc_volt = hv0.dc_volt
fault0.hv_temp = hv0.hv_temp
fault0.dc_cur = hv0.dc_cur
fault0.hv_error = hv0.fault
hv0.en = fault0.en_out
hv0.scale = fault0.scale
io0.fan = fault0.hv_fan
io0.fault = fault0.fault
io0.state = fault0.state
iit0.max_temp = conf0.max_mot_temp
iit0.high_temp = conf0.high_mot_temp
iit0.max_cur = conf0.max_ac_cur
fault0.mot_temp = iit0.temp
iit0.cur = hv0.abs_cur
# bridge junction model and derate, conf0.high_ipm_temp and max_ipm_temp
link ipm

Source: Configuration File

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

UVW_FB0 #

Configuration Content #

load uvw
adc0.rt_prio = 1
uvw0.rt_prio = 3
uvw0.u = io0.fb0a
uvw0.v = io0.fb0b
uvw0.w = io0.fb0z

uvw0.amp = adc0.amp0

fb_switch0.com_pos = uvw0.pos
fb_switch0.com_abs_pos = uvw0.pos
fb_switch0.com_state = uvw0.state
fb_switch0.com_polecount = conf0.com_fb_polecount
conf0.com_fb_polecount = conf0.polecount
fault0.com_fb_error = uvw0.error

Source: Configuration File

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

UVW_FB1 #

Configuration Content #

load uvw
adc0.rt_prio = 1
uvw0.rt_prio = 2
uvw0.u = io0.fb1a
uvw0.v = io0.fb1b
uvw0.w = io0.fb1z
fb_switch0.com_pos = uvw0.pos
fb_switch0.com_abs_pos = uvw0.pos
fb_switch0.com_state = uvw0.state
fb_switch0.com_polecount = conf0.com_fb_polecount
io0.fb1g = 1
io0.fb1y = uvw0.led
conf0.com_fb_polecount = conf0.polecount
uvw0.amp = adc0.amp1
fault0.com_fb_error = uvw0.error

Source: Configuration File

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

VELBUF #

Configuration Content #

load velbuf
velbuf0.rt_prio = 6
# the frt part fills the buffer; without an frt_prio it never runs
velbuf0.frt_prio = 6
vel0.rt_prio = 0
velbuf0.pos = rev0.out
pid0.vel_ext_cmd = velbuf0.vel
rev0.in_d = velbuf0.vel
term0.wave2 = velbuf0.vel

Source: Configuration File

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

VF #

induction motor, open loop V/f, no feedback needed.
replaces uf for new configs. speed: vf0.vel_cmd [rad/s mech]
set vf0.u_n (phase peak V at vf0.vel_n), u_boost, i_stall
encoder slip control: link vf_enc instead (or vf0.vel_fb = ,
vf0.enc 1, vf0.slip_max (0 = 2 * slip_n); tune vf0.enc_kp / enc_ki.

Configuration Content #

# induction motor, open loop V/f, no feedback needed.
# replaces uf for new configs. speed: vf0.vel_cmd [rad/s mech]
# set vf0.u_n (phase peak V at vf0.vel_n), u_boost, i_stall
# encoder slip control: link vf_enc instead (or vf0.vel_fb = <rotor speed>,
# vf0.enc 1, vf0.slip_max (0 = 2 * slip_n); tune vf0.enc_kp / enc_ki.
load adc
load fault
load hv
load sim
load io
load iit
load vf
load angle
link conf
adc0.rt_prio = 1
io0.rt_prio = 7
vf0.rt_prio = 8
angle0.rt_prio = 9.5
hv0.rt_prio = 10
fault0.rt_prio = 10
iit0.rt_prio = 13
sim0.rt_prio = 13
term0.rt_prio = 16
fault0.max_dc_cur = conf0.max_dc_cur
fault0.max_ac_cur = conf0.max_ac_cur
fault0.max_dc_volt = conf0.max_dc_volt
fault0.high_dc_volt = conf0.high_dc_volt
fault0.min_dc_volt = conf0.low_dc_volt
fault0.max_hv_temp = conf0.max_hv_temp
fault0.max_mot_temp = conf0.max_mot_temp
fault0.high_hv_temp = conf0.high_hv_temp
fault0.high_mot_temp = conf0.high_mot_temp
fault0.fan_hv_temp = conf0.fan_hv_temp
fault0.fan_mot_temp = conf0.fan_mot_temp
fault0.ac_cur = hv0.abs_cur
fault0.dc_volt = hv0.dc_volt
fault0.hv_temp = hv0.hv_temp
fault0.dc_cur = hv0.dc_cur
fault0.hv_error = hv0.fault
fault0.fb_ready = 1
fault0.mot_temp = iit0.temp
hv0.rev = conf0.out_rev
hv0.r = conf0.r
hv0.l = conf0.l
hv0.lq = conf0.lq
hv0.psi = 0
hv0.cur_bw = conf0.cur_bw
hv0.max_cur = conf0.max_ac_cur
hv0.en = fault0.en_out
hv0.scale = fault0.scale
hv0.cmd_mode = 0
hv0.phase_mode = 2
vf0.en = fault0.en_out
vf0.polecount = conf0.polecount
vf0.scale = fault0.scale
vf0.id = hv0.id_fb
vf0.iq = hv0.iq_fb
vf0.ud = hv0.ud_fb
vf0.uq = hv0.uq_fb
vf0.dc_volt = hv0.dc_volt
vf0.pwm_volt = hv0.pwm_volt
vf0.dc_hold = conf0.high_dc_volt
# standstill boost: covers the dead time drop (no compensation in volt
# mode) plus r * the magnetizing current, so the encoder path (enc 1) starts
# from rest on the slip frequency alone. 12 V on the spindle (IM06B50GC1,
# drop ~8.7 V); set it in the config for other motors
vf0.u_boost = 12
angle0.src = 3
angle0.vel_cmd = vf0.vel_e
hv0.d_cmd = vf0.u_cmd
hv0.q_cmd = 0
hv0.pos = angle0.pos
hv0.vel = angle0.vel
io0.fan = fault0.hv_fan
io0.fault = fault0.fault
io0.state = fault0.state
iit0.max_temp = conf0.max_mot_temp
iit0.high_temp = conf0.high_mot_temp
iit0.max_cur = conf0.max_ac_cur
iit0.cur = hv0.abs_cur
# bridge junction model and derate, conf0.high_ipm_temp and max_ipm_temp
link ipm

Source: Configuration File

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

VF_ENC #

induction motor, V/f with encoder slip control (vf0.enc 1): the field
runs at the rotor speed plus a slip from a speed PI, so the speed
holds to the encoder and the rotor cannot pull out. link vf_enc
instead of vf, then the feedback template (e.g. link fanuc_fb0) and
the motor’s values. speed: vf0.vel_cmd [rad/s mech]. Set in the config
as for vf: vf0.u_n, vel_n, slip_n, cur_n, i_stall. vf0.slip_max 0 = 2