getting started with 8i20

Hi,
In the man bldc, I read this information :
bldc.N.init
........ "The alignement process will tend to cause a following error if it is triggered while the axis is enabled, so should be set before the matching axis.N.enable pin. The complementary init-done pin can be used to handle the requiered seqencing."
Please, help me.

My HAL file is derived from Ted Hyde's original hm2-servo config

.......................
# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE
net emcmot.00.enable => pid.x.enable
net emcmot.00.enable => bldc.0.init
net emcmot.00.enable => hm2_7i43.0.8i20.amp_enable
net emcmot.00.enable <= axis.0.amp-enable-out

With Axis, my motor turn a little then an error join appears immediately
The alignement process is failed.
How to use the pin init done to avoid this ?

Thank you for your answer. I am going to try.

Besides, I read (Derived Ted Hyde's original hm2-servo config)
...............
# position command signals

net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.x.command
net motor.00.command pid.x.output => bldc.0.value
net motor.00.current bldc.0.out => hm2_HOSTMOT2] (BOARD).0.8i20.0.current
#net motor.00.current hm2_[HOSTMOT2] (BOARD).0.encoder.0.velocity => hm2_[HOSTMOT2] (BOARD).0.8i20.0.current

What is the meaning of this last line? Even if it is "commented", it seems in contradiction with the previous one

Hi,
Now with F1 (Axis), the motors turns and ends its "homing sequence"
With halmeter--> bldc.0.offset-measured show a value

1) Needs it to use this value in the hal file ?

After, with F2, motor turns very little and Axis always send back a "join error";

2) Please, what is the problem ?

Sounds like now it is time to tune the PID.

Hi,
my motor is used and I have little information about it
I would say its power is less than 1,5 kw
it has an encoder Heidenhain ROD 426 2500

In my Hal file :
Encoder feedback
setp hm2_7i43.0.encoder.01.counter mode 0 # quadrature
setp hm2_7i43.0.encoder.01.filter 1
setp hm2_7i43.0.encoder.01.index-invert 0
setp hm2_7i43.0.encoder.01.mask 0
setp hm2_7i43.0.encoder.01.mask-invert 0
setp hm2_7i43.0.encoder.01.encoder.scale 2500 # do you think I put a right value regarding the encoder?

BLDC setup
setp.bldc.0.initvalue 0.2 # current during homing sequence only ?
setp.bldc.0.poles 4 # put randomly
setp.bldc.0.scale 2500 # but I've also tried -2500
setp.bldc.0.rev 0 # is it rotation sense ?
In order to tune PID i used CNC Servo Axis Calibration. After having tried different PID values I always have the same error "Join error"
Any other thing you might think of to try to resolve the problem apart from PID?

setp.bldc.0.scale 2500 # but I've also tried -2500

This surely should be 10000 (or -10000)