MPID #

load adc

load reslimit

load rev

load fb_switch

load veltime

load veltime

load vel

load mpid

load fault

load hv

load sim

load io

load iit

load pe

link conf

hv0.rt_prio = 0.9

hv0.frt_prio = 1

adc0.rt_prio = 1

reslimit0.rt_prio = 3

rev0.rt_prio = 4

fb_switch0.rt_prio = 5

veltime0.frt_prio = 6

veltime1.frt_prio = 6

vel0.rt_prio = 6

io0.rt_prio = 7

mpid0.rt_prio = 8

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

mpid0.j = conf0.j

mpid0.pos_p = conf0.pos_p

mpid0.vel_p = conf0.vel_p

mpid0.vel_i = conf0.vel_i

mpid0.max_vel = conf0.max_vel

mpid0.max_acc = conf0.max_acc

mpid0.max_torque = conf0.max_force

fault0.max_sat = conf0.max_sat

fault0.max_pos_error = conf0.max_pos_error

fault0.max_vel_error = conf0.max_vel_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.min_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.psi = conf0.psi

hv0.cur_p = conf0.cur_p

hv0.cur_i = conf0.cur_i

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.joint_polecount = conf0.joint_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

veltime0.pos = rev0.out

veltime1.pos = fb_switch0.vel_fb

vel0.pos_in = fb_switch0.com_fb

vel0.en = fault0.en_fb

vel0.torque = mpid0.torque_cor_cmd

mpid0.en = fault0.en_pid

mpid0.pos_ext_cmd = reslimit0.pos_out

mpid0.vel_ext_cmd = veltime0.vel_lp

mpid0.pos_fb = fb_switch0.pos_fb

mpid0.vel_fb = veltime1.vel_lp

rev0.in_d = veltime0.vel_lp

fault0.pos_error = mpid0.pos_error

fault0.vel_error = mpid0.vel_error

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.pos = vel2.pos_out

hv0.vel = vel2.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 = mpid0.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