PID #

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

link conf

hv0.rt_prio = 0.9

adc0.rt_prio = 1

reslimit0.rt_prio = 3

rev0.rt_prio = 4

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

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

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_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.high_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_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.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

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.vel_error = pid0.vel_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.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 = 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