; 14 October 2016
;3 phase motors
; The file is only loaded when QuickControl(R) first starts.  Subsequent changes to the file
; will not affect the program.

: MP = Motor Properties (defined in devAuxnnnn.txt files)
;   mt      = Motor Type - must be unique for all @SM and all @MP (keep it to 6 chars for display purposes).
;		NOTE:  mt may change with each QC rev to better describe the motor.
;		This is ok as long as the mID is the same.
;   desc    = Description (keep it to 30 chars for display purposes)
;   mID     = Unique to Motor Type (primary key-will not change).  (max 10 digits - ULONG)
;   drv     = Driver used to configured motor (2=N2/D2/S2, 3=N3/D3/S3)
;   Kp      = CTC/CT2: Kp (assumes a 4000CPR encoder)
;   K....   = CTC/CT2: Ki, Kv1, Kv2, Kvff, Kaff
;   Ka      = CTC: Ka, CT2: Ka1
;   Ka2     = CT2: Ka2 (optional:  default:  Ka1=Ka, Ka2=0)
;   Kd      = FL2: Kd (%) (optional: default Kd=65%)
;   Ksi     = FL2: Ksi (%) (optional:  default Ksi = 32768 - Fv1)
;   Kaa     = FL2: Kaa (% of Ksi) (optional:  Kaa=25%)
;   Fv1     = FLC: Fv1 (native units)
;   Fv2     = FLC/FL2: Fv2 (native units)
;   Fa      = FLC: Fa, FL2: Fa1 (native units)
;   Fa2     = FL2: Fa2 (native units) (optional:  default: Fa2=Fa)
;   Cmc     = MCT Constants (Cmc1==-1 == Use values in Init File)
;   Cpc     = PAC Constants (0 == Use values in Init File, -1 == Use SM_PAC1 table)
;   TorqFull= Full Rated Torque (100 % Torque)
;   TorqMax = Maximum Torque
;   defK    = Default K
;   baud    = Baud Rate table to use 
;   volt    = Voltage table  to use 
;   pac     = PAC table to use (only used if Cpc1=-1)
;   CPRr    = Default Raw Internal Encoder CPR (optional 0=default).  NOTE:  This is the actual or raw encoder value.
;   inxDly  = Default Encoder Index Delay (optional 0=default)
;   polePrs = POLEPRS Number of pole pairs (optional 0=default which translates to 50, other values used as entered)
;   stepShft= STEP_SHFT Overide Value (optional 0==QC Calculate Normally)
;   encGain1= ENC_GAIN1 Overide Value (optional 0==QC Calculate Normally)
;   encGain2= ENC_GAIN2 Overide Value (optional 0==QC Calculate Normally)
;   drvDly  = Driver Delay (optional) - if used, overrides value set by factory during InitWiz
;   phDlyOff= PHASE_DELAY_OFFSET (optional) defaults to 3 if not used.  Save to Factory Block during Init Wiz



: MP = Motor Properties (see deviceDB.txt for descriptions)


;        123456           1234567890123456789012345678901234567890   x
@MP: mt="RSF-3C",   desc="HD RSF-3C-50-US020-C                    ",               mID=30003,    drv=02, Kd=18, Kaa=0, Ki=100, Kp=10, Kv1=0, Kv2=2, Kvff=2, Ka=3, Ka2 = 0, Kaff=2, Fv1=26135, Fv2=29264, Fa=30388, Fa2=27739,  Cmc1=8.656,    Cmc2=.3938,  Cmc3=2.42,  Cmc4=6.1, Cmc5=.1, Cpc1=-1, Cpc2=-1, Cpc3=-1, TorqFull=3545, TorqMax=10000, defK=0.8, baud=M_BAUD, volt=M_VOLT2, pac=M_PAC1, CPRr=2000, polePrs=10


@MP: mt="RSF-5A",   desc="HD RSF-5A-50-US050-C                    ",               mID=30002,    drv=02, Kd=18, Kaa=0, Ki=100, Kp=50, Kv1=0, Kv2=3, Kvff=3, Ka=10, Ka2 = 0, Kaff=10, Fv1=10575, Fv2=18615, Fa=20316, Fa2=27739,  Cmc1=19.39,    Cmc2=.677,  Cmc3=1.52,  Cmc4=4, Cmc5=.1, Cpc1=-1, Cpc2=-1, Cpc3=-1, TorqFull=7500, TorqMax=18000, defK=0.4, baud=M_BAUD, volt=M_VOLT2, pac=M_PAC1, CPRr=2000, polePrs=4, encGain1=10, encGain2=10 


;HD FHA-8C-100-US200-E  for scaling reasons, must reduce encoder resolution by 2 at initialization time
@MP: mt="RSF-8C",   desc="HD FHA-8C-100-US200-E                    ",               mID=30004,    drv=02, Kd=18, Kaa=0, Ki=50, Kp=100, Kv1=0, Kv2=3, Kvff=3, Ka=5, Ka2 = 0, Kaff=5, Fv1=26135, Fv2=29264, Fa=30388, Fa2=27739,  Cmc1=19.15,    Cmc2=0.6132,  Cmc3=1.035,  Cmc4=9.0, Cmc5=.1, Cpc1=-1, Cpc2=-1, Cpc3=-1, TorqFull=4733, TorqMax=8738, defK=0.8, baud=M_BAUD, volt=M_VOLT2, pac=M_PAC1, CPRr=8000, polePrs=5


;HD FHA-11C-100-US200-E  for scaling reasons, must reduce encoder resolution by 2 at initialization time
@MP: mt="RSF-11C",   desc="HD FHA-11C-100-US200-E                    ",               mID=30005,    drv=02, Kd=18, Kaa=0, Ki=50, Kp=100, Kv1=0, Kv2=3, Kvff=3, Ka=5, Ka2 = 0, Kaff=5, Fv1=26135, Fv2=29264, Fa=30388, Fa2=27739,  Cmc1=18.46,    Cmc2=0.667,  Cmc3=.4291,  Cmc4=19.0, Cmc5=.1, Cpc1=-1, Cpc2=-1, Cpc3=-1, TorqFull=4829, TorqMax=7761, defK=0.8, baud=M_BAUD, volt=M_VOLT2, pac=M_PAC1, CPRr=8000, polePrs=5


;HD FHA-14C-50-US200-E  for scaling reasons, must reduce encoder resolution by 2 at initialization time
@MP: mt="RSF-14C",   desc="HD FHA-14C-50-US200-E                    ",               mID=30006,    drv=03, Kd=18, Kaa=0, Ki=50, Kp=100, Kv1=0, Kv2=3, Kvff=3, Ka=5, Ka2 = 0, Kaff=5, Fv1=26135, Fv2=29264, Fa=30388, Fa2=27739,  Cmc1=17.656,    Cmc2=0.7695,  Cmc3=.1512,  Cmc4=38.0, Cmc5=.1, Cpc1=-1, Cpc2=-1, Cpc3=-1, TorqFull=3539, TorqMax=10748, defK=0.8, baud=M_BAUD, volt=M_VOLT2, pac=M_PAC1, CPRr=8000, polePrs=5

;HD FHA-17C-50-US200-E  for scaling reasons, must reduce encoder resolution by 4 at initialization time; also requires code version with 3x multiplier
@MP: mt="RSF-17C",   desc="HD FHA-17C-50-US250-E                    ",               mID=30007,    drv=03, Kd=18, Kaa=0, Ki=100, Kp=56, Kv1=0, Kv2=4, Kvff=4, Ka=10, Ka2 = 0, Kaff=0, Fv1=22476, Fv2=27134, Fa=29264, Fa2=27739,  Cmc1=16.0,    Cmc2=0.552,  Cmc3=.1712,  Cmc4=64.0, Cmc5=.1, Cpc1=-1, Cpc2=-1, Cpc3=-1, TorqFull=5632, TorqMax=10240, defK=0.8, baud=M_BAUD, volt=M_VOLT2, pac=M_PAC1, CPRr=30000, polePrs=6


;HD CSF-8-50-2XH-FSP+MAXON 449464:  Must multiply encoder resoluton multiplier of 7 for integer counts per "step" Note speed reduced to 4464 rpm to match gearhead rating of 3500RPM average
@MP: mt="Max449464",   desc="HD CSF-8-50-2XH-FSP MAXON 449464 ",               mID=30008,    drv=02, Kd=18, Kaa=0, Ki=50, Kp=37, Kv1=0, Kv2=3, Kvff=0, Ka=30, Ka2 = 0, Kaff=0, Fv1=26135, Fv2=29264, Fa=30388, Fa2=27739,  Cmc1=13.67,    Cmc2=0.842,  Cmc3=0.9678,  Cmc4=4.58, Cmc5=.1, Cpc1=-1, Cpc2=-1, Cpc3=-1, TorqFull=20000, TorqMax=30000, defK=0.8, baud=M_BAUD, volt=M_VOLT2, pac=M_PAC1, CPRr=28672, polePrs=7



@MP: mt="Auto 2",   desc="Auto configuration                  ",               mID=30998,    drv=02, Kd=0, Kaa=0, Ki=0, Kp=0, Kv1=0, Kv2=0, Kvff=2, Ka=3, Ka2 = 0, Kaff=2, Fv1=26135, Fv2=29264, Fa=30388, Fa2=27739,  Cmc1=8.656,    Cmc2=.3938,  Cmc3=2.42,  Cmc4=6.1, Cmc5=.1, Cpc1=-1, Cpc2=-1, Cpc3=-1, TorqFull=100, TorqMax=100, defK=0.8, baud=M_BAUD, volt=M_VOLT2, pac=M_PAC1, CPRr=2000, polePrs=10
@MP: mt="Auto 3",   desc="Auto configuration                  ",               mID=30999,    drv=03, Kd=0, Kaa=0, Ki=0, Kp=0, Kv1=0, Kv2=0, Kvff=2, Ka=3, Ka2 = 0, Kaff=2, Fv1=26135, Fv2=29264, Fa=30388, Fa2=27739,  Cmc1=8.656,    Cmc2=.3938,  Cmc3=2.42,  Cmc4=6.1, Cmc5=.1, Cpc1=-1, Cpc2=-1, Cpc3=-1, TorqFull=100, TorqMax=100, defK=0.8, baud=M_BAUD, volt=M_VOLT2, pac=M_PAC1, CPRr=2000, polePrs=10

;

; Generic Motor PAC Lookup Table - scaled vs a 4000 count encoder
;          Motor ID     Volt     PAC1          PAC2        PAC3
; RTH-140
@M_PAC1:   mID=30001,   v=12,    pac1=5,       pac2=0,    pac3=30
@M_PAC1:   mID=30001,   v=18,    pac1=5,       pac2=0,    pac3=30
@M_PAC1:   mID=30001,   v=24,    pac1=5,       pac2=0,    pac3=30
@M_PAC1:   mID=30001,   v=30,    pac1=5,       pac2=0,    pac3=30
@M_PAC1:   mID=30001,   v=36,    pac1=5,       pac2=0,    pac3=30
@M_PAC1:   mID=30001,   v=42,    pac1=5,       pac2=0,    pac3=30
@M_PAC1:   mID=30001,   v=48,    pac1=5,       pac2=0,    pac3=30

; HD RSF-5A-50
@M_PAC1:   mID=30002,   v=12,    pac1=2,       pac2=20,    pac3=15
@M_PAC1:   mID=30002,   v=18,    pac1=2,       pac2=20,    pac3=15
@M_PAC1:   mID=30002,   v=24,    pac1=2,       pac2=20,    pac3=15
@M_PAC1:   mID=30002,   v=30,    pac1=2,       pac2=20,    pac3=15
@M_PAC1:   mID=30002,   v=36,    pac1=2,       pac2=20,    pac3=15
@M_PAC1:   mID=30002,   v=42,    pac1=2,       pac2=20,    pac3=15
@M_PAC1:   mID=30002,   v=48,    pac1=2,       pac2=20,    pac3=15

; HD RSF-3C-50
@M_PAC1:   mID=30003,   v=12,    pac1=2,       pac2=180,    pac3=15
@M_PAC1:   mID=30003,   v=18,    pac1=2,       pac2=150,    pac3=15
@M_PAC1:   mID=30003,   v=24,    pac1=2,       pac2=130,    pac3=15
@M_PAC1:   mID=30003,   v=30,    pac1=2,       pac2=110,    pac3=15
@M_PAC1:   mID=30003,   v=36,    pac1=2,       pac2=95,    pac3=15
@M_PAC1:   mID=30003,   v=42,    pac1=2,       pac2=80,    pac3=15
@M_PAC1:   mID=30003,   v=48,    pac1=2,       pac2=70,    pac3=15


; HD FHA-8C-100-US200-E
@M_PAC1:   mID=30004,   v=12,    pac1=2,       pac2=180,    pac3=15
@M_PAC1:   mID=30004,   v=18,    pac1=2,       pac2=150,    pac3=15
@M_PAC1:   mID=30004,   v=24,    pac1=2,       pac2=130,    pac3=15
@M_PAC1:   mID=30004,   v=30,    pac1=2,       pac2=110,    pac3=15
@M_PAC1:   mID=30004,   v=36,    pac1=2,       pac2=45,     pac3=15
@M_PAC1:   mID=30004,   v=42,    pac1=2,       pac2=40,     pac3=15
@M_PAC1:   mID=30004,   v=48,    pac1=2,       pac2=35,     pac3=15

; HD FHA-11C-100-US200-E
@M_PAC1:   mID=30005,   v=12,    pac1=2,       pac2=180,    pac3=15
@M_PAC1:   mID=30005,   v=18,    pac1=2,       pac2=150,    pac3=15
@M_PAC1:   mID=30005,   v=24,    pac1=2,       pac2=130,    pac3=15
@M_PAC1:   mID=30005,   v=30,    pac1=2,       pac2=110,    pac3=15
@M_PAC1:   mID=30005,   v=36,    pac1=2,       pac2=60,     pac3=15
@M_PAC1:   mID=30005,   v=42,    pac1=2,       pac2=50,     pac3=15
@M_PAC1:   mID=30005,   v=48,    pac1=2,       pac2=45,     pac3=15

; HD FHA-14C-150-US200-E
@M_PAC1:   mID=30006,   v=12,    pac1=2,       pac2=55,    pac3=15
@M_PAC1:   mID=30006,   v=18,    pac1=2,       pac2=55,    pac3=15
@M_PAC1:   mID=30006,   v=24,    pac1=2,       pac2=45,    pac3=15
@M_PAC1:   mID=30006,   v=30,    pac1=2,       pac2=40,    pac3=15
@M_PAC1:   mID=30006,   v=36,    pac1=2,       pac2=35,    pac3=15
@M_PAC1:   mID=30006,   v=42,    pac1=2,       pac2=30,    pac3=15
@M_PAC1:   mID=30006,   v=48,    pac1=2,       pac2=27,    pac3=15

; HD FHA-17C-150-US250-E
@M_PAC1:   mID=30007,   v=12,    pac1=2,       pac2=100,    pac3=15
@M_PAC1:   mID=30007,   v=18,    pac1=2,       pac2=75,     pac3=15
@M_PAC1:   mID=30007,   v=24,    pac1=2,       pac2=60,     pac3=15
@M_PAC1:   mID=30007,   v=30,    pac1=2,       pac2=48,     pac3=15
@M_PAC1:   mID=30007,   v=36,    pac1=2,       pac2=38,     pac3=15
@M_PAC1:   mID=30007,   v=42,    pac1=2,       pac2=32,     pac3=15
@M_PAC1:   mID=30007,   v=48,    pac1=2,       pac2=29,     pac3=15


; MAXON 449464
@M_PAC1:   mID=30008,   v=12,    pac1=2,       pac2=50,    pac3=16
@M_PAC1:   mID=30008,   v=18,    pac1=2,       pac2=35,    pac3=16
@M_PAC1:   mID=30008,   v=24,    pac1=2,       pac2=31,    pac3=16
@M_PAC1:   mID=30008,   v=30,    pac1=2,       pac2=28,    pac3=16
@M_PAC1:   mID=30008,   v=36,    pac1=2,       pac2=26,    pac3=16
@M_PAC1:   mID=30008,   v=42,    pac1=2,       pac2=23,    pac3=16
@M_PAC1:   mID=30008,   v=48,    pac1=2,       pac2=20,    pac3=16


@M_PAC1:   mID=30998,   v=12,    pac1=5,       pac2=0,    pac3=30
@M_PAC1:   mID=30998,   v=18,    pac1=5,       pac2=0,    pac3=30
@M_PAC1:   mID=30998,   v=24,    pac1=5,       pac2=0,    pac3=30
@M_PAC1:   mID=30998,   v=30,    pac1=5,       pac2=0,    pac3=30
@M_PAC1:   mID=30998,   v=36,    pac1=5,       pac2=0,    pac3=30
@M_PAC1:   mID=30998,   v=42,    pac1=5,       pac2=0,    pac3=30
@M_PAC1:   mID=30998,   v=48,    pac1=5,       pac2=0,    pac3=30

@M_PAC1:   mID=30999,   v=12,    pac1=5,       pac2=0,    pac3=30
@M_PAC1:   mID=30999,   v=18,    pac1=5,       pac2=0,    pac3=30
@M_PAC1:   mID=30999,   v=24,    pac1=5,       pac2=0,    pac3=30
@M_PAC1:   mID=30999,   v=30,    pac1=5,       pac2=0,    pac3=30
@M_PAC1:   mID=30999,   v=36,    pac1=5,       pac2=0,    pac3=30
@M_PAC1:   mID=30999,   v=42,    pac1=5,       pac2=0,    pac3=30
@M_PAC1:   mID=30999,   v=48,    pac1=5,       pac2=0,    pac3=30

