haas_spindle_slip_uf.txt

link pid
link acim
link enc_fb0
link misc

link sserial_uf
load idx_home
load linrev
linrev0.rt_prio = 2.1
idx_home0.rt_prio = 2.3
linrev0.fb_in = idx_home0.pos_out
linrev0.fb_d_in = vel1.vel
idx_home0.fb = enc_fb0.pos
idx_home0.fb_abs = enc_fb0.abs_pos
idx_home0.mot_state = enc_fb0.state
enc_fb0.amp = 5

idx_home0.index_en = sserial0.index_out
idx_home0.mot_state = fb_switch0.mot_state
sserial0.index_clear = idx_home0.index_clear
linrev0.rev_clear = sserial0.index_clear
sserial0.pos_fb = linrev0.fb_out
sserial0.vel_fb = linrev0.fb_d_out
linrev0.scale = -1

conf0.r = 1.4
conf0.l = 0.0013
conf0.j = 0.015
conf0.max_force = 50
conf0.max_ac_cur = 25
acim_ttc0.cur_n = 20
acim_ttc0.torque_n = 19
acim_ttc0.freq_n = 50
acim_ttc0.slip_n = 1.8
acim_ttc0.u_n = 230
acim_ttc0.u_boost = 5
conf0.polecount = 2
conf0.vel_p = 500
conf0.vel_i = 1
conf0.max_sat = 0.5
iit0.cur_boost = 2
iit0.max_time = 60
conf0.max_pos_error = 0
conf0.max_vel = 900
conf0.max_acc = 9000
conf0.mot_fb_res = 2000
conf0.max_dc_volt = 390
conf0.high_dc_volt = 375

pid0.max_vel = conf0.max_vel
pid0.max_torque = 50
pid0.min_torque = -50

load ramp
ramp0.rt_prio = 1.95
ramp0.vel_ext_cmd = sserial0.pos_cmd_d
ramp0.en = sserial0.out3
ramp0.max_vel = 837
ramp0.max_acc = 837

load not
not0.rt_prio = 2
not0.in = sserial0.out3

pid0.vel_ext_cmd = ramp0.vel_cmd
pid0.pos_en = not0.out

acim_ttc0.mode = 2