'
'  Author: Kevin Cox
'  Date:   3/29/2018
'  Description:  MAKE SURE RUN %eesav from the console after you run this script
dim ppr as integer
ppr = 8192
' Set over voltage conditions.  Took this out as the input voltage to
' motors can't get above its max of 24V
'setconfig (_OVL, 300) ' Kolmorgen TBM 6013-B
'setconfig (_OVH, 10)
' Set CAN  raw mode
setconfig (_CEN, 3)
' Set CAN listening mode 0=receive everything
setconfig (_CLSN, 0)
' Set CAN Bus bit rate 0=1Mbps,1=800Kbps,2=500Kbps
setconfig (_CBR, 0)

' Put motor controller 1&2 in open loop mode  
setconfig (_MMOD, 1, 0)
setconfig (_MMOD, 2, 0)
' Set brushless feedback sensor to encoder + hall = 2 Pg 331
setconfig (_BFBK, 1, 2)
setconfig (_BFBK, 2, 2)
' Set the Home postion counter value
setconfig (_BHOME, 1, 0)
setconfig (_BHOME, 2, 0)
' Set Brushless operating mode to Sinusoidal = 1 Pg 335
setconfig (_BMOD, 1, 1)
setconfig (_BMOD, 2, 1)
' Set the number of brushless motor pole pairs, negative inverts
'    counter values. This is driven by mounting of the encoder and the
'    alignment waveform. EPPR must match.
setconfig (_BPOL, 1, -6)
setconfig (_BPOL, 2, 6) 
' Set brushless zer seek power (used for BND command)
setconfig (_BZPW, 1, 8)
setconfig (_BZPW, 2, 8)
' Set the motor amp limit 100 = 10 amps, Pg 306
setconfig (_ALIM, 1, 200)
setconfig (_ALIM, 2, 200)
setconfig (_ATRIG, 1, 150)
setconfig (_ATRIG, 2, 150)
setconfig (_ATGD, 1, 100)
setconfig (_ATGD, 2, 100)
setconfig (_ATGA, 1, 17) ' Safety stop
setconfig (_ATGA, 2, 33) ' Safety stop
'Set the feedback sensor for closed loop, 0=encoder/other, 1=hall
setconfig (_BLFB, 1, 0)
setconfig (_BLFB, 2, 0)
' Set the encoder home count position
setconfig (_EHOME, 1, 0)
setconfig (_EHOME, 2, 0)
' Set the how encoder is used, Pg. 315
setconfig (_EMOD, 1, 18) ' Channel 1, feedback = 18
setconfig (_EMOD, 2, 34) ' Channel 2, feedback = 34
' Set the overvoltage condition pin for the regen circuit. pg. 296
setconfig (_DOA, 1, 51) ' Channel 1&2 set DIO 1 high when motor 1/2 overvolt
   
' Set encoder PPR *4 converts ppr to cpr (each edge of quad A/B is counted)
' /2 because the range is not 0 to ppr*4, rather -ppr/2 to +ppr/2
setconfig (_EPPR, 1, -ppr) ' EPPR polarity should match BPOL
setconfig (_ELL, 1, -ppr/2*4)
setconfig (_EHL, 1, ppr/2*4)
setconfig (_EPPR, 2, ppr) ' EPPR polarity should match BPOL 
setconfig (_ELL, 2, -ppr/2*4)
setconfig (_EHL, 2, ppr/2*4)
' Set the stall condition, Pg. 310
' Limit the max amps so that won't get in a situation where burn out motor
setconfig (_BLSTD, 1, 0) ' Disable stall condition 
setconfig (_BLSTD, 2, 0) ' Disable stall condition
' Set the close loop error detection, 0=disabled, 2 = 500ms error >250
setconfig (_CLERD, 1, 0)
setconfig (_CLERD, 2, 0)
' Set Max RPM value, Pg 324 - THIS IS IMPORTANT
' To see how this relates to the _G command see pg. 220
setconfig (_MXRPM, 1, 10) ' in rpm
setconfig (_MXRPM, 2, 10)
setconfig (_MAC, 1, 500) ' in tenths of rpms
setconfig (_MAC, 2, 500)
setconfig (_MDEC, 1, 500) ' in tenths of rpms
setconfig (_MDEC, 2, 500)
'Set the default motor speed the controller uses to move to position
'   in count position mode
setconfig (_MVEL, 1, 10) ' in rpm
setconfig (_MVEL, 2, 10)
   
' Set DIN action value.  Took this out as no longer using encoder index pin
'    for homing sequence.  It was not reliable enough.
'setconfig (_DINA, 1, 24) ' load home value motor 1
'setconfig (_DINA, 2, 40) ' Load home value motor 2
' Set the motor direction
setconfig (_MDIR, 1, 1) ' 0=direct, 1= inverted
setconfig (_MDIR, 2, 1)
' Set PID gains for closed loop (except torque mode)
setconfig (_KP, 1, 20) ' units = tenths
setconfig (_KI, 1, 0)
setconfig (_KD, 1, 40) ' units = tenths
setconfig (_KP, 2, 40) ' units = tenths
setconfig (_KI, 2, 0)
setconfig (_KD, 2, 80) ' units = tenths

' Enable script 2 seconds after power up
setconfig (_BRUN, 1)

' Save configuration to eeprom
setcommand (_EESAV, 1)