link pid
link pmsm
sleep 0.5
link enc_fb0
link misc
link sserial
#link jog_cmd
linrev0.scale = -2.2
conf0.r = 0.4
conf0.l = 0.01
conf0.j = 0.000045
# 0.000622 * (22/50)^2
conf0.j_load = 0.00012
conf0.j_lpf = 200
conf0.polecount = 2
conf0.max_force = 10
conf0.max_ac_cur = 20
conf0.mot_fb_res = 16384
conf0.mot_fb_offset = -2.842850
fb_switch0.phase_cur = 7
conf0.pos_p = 20
conf0.vel_i = 20