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
# * slip_n; the defaults enc_kp 0.25, enc_ki 5 are tuned on the spindle.
# The encoder sign must match the field: check vel0.vel against vf0.vel
# with vf0.enc 0 before the first run (conf0.mot_fb_rev).
link vf
load fb_switch
load vel
fb_switch0.rt_prio = 5
vel0.rt_prio = 6
fb_switch0.mot_rev = conf0.mot_fb_rev
fb_switch0.com_rev = conf0.com_fb_rev
fb_switch0.joint_rev = conf0.joint_fb_rev
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.j = conf0.j
vel0.pos_in = fb_switch0.vel_fb
vel0.en = fault0.en_fb
vel0.torque = vf0.torque
fault0.fb_ready = fb_switch0.state
fault0.vel_fb = vel0.vel
vf0.vel_fb = vel0.vel
vf0.enc = 1