getting started with 8i20

Hi PCW,

if I understood well

bldc.0.scale = hm2_7i43.0.encoder.01.scale x bldc.0.poles

examples :
encoder = 2500 pts/t
nbre of poles = 4
.... encoder.01.scale = 2500
..... bldc.0.scale = 10000

encoder = 10000 pts/t
nbre of poles = 6
.... encoder.01.scale = 10000
..... bldc.0.scale = 60000

Question : is it correct ?

The BLDC manual page defines bldc.N.scale as:
The number of encoder counts per rotor revolution.

So with a 2500 line quadrature encoder this would be 2500 x4 or 10000

if you are not sure, watch the raw encoder count and turn the shaft 1 turn

Hello Andy,

It's not very clear for me how to get the halcmd prompt when AXIS is running when I "open a terminal window".
I tried to run halrun while AXIS was running but I got the following error: 'halrun realtime already running. Use "hal -U" to stop existing realtime session'

Is there another way to issue HAL commands while AXIS is running ?

Hello
Thank you Andy, for this precision (halcmd -kf). Now, it is very comfortable to modify the Hal ( when Axis "turns").

My motor "vibrates".
Questions --> For the first tries, which values to give to Ferror and Min_Ferror ?
Halscope is it useful at the beginning ?

In the doubt, I "feed" the 8i20 with 60 volts but my motor can, probably (??), support 220 volts.
Just in case --> ... max_current 4
... min_current 4
.... scale 4

In Axis, if I click F2, the motor does not seem to "oscillate" for values of 1 < P < 10000.
Deadband 0.001 Max output 10 (is it correct ?)

But if I click (- or +) for an "incrément" of 0.1 mm, the motor does not turn correctly and an "error join" appears.
Sometimes, for certain values of P the motor turns a little then begins "vibrating" a few seconds.
If I increase I the motor "vibrate" even more.

Hello,
in man bldc, I read
Parameters
bldc. N.output-pattern
bldc. N.pattern

With halmeter I do not find these parameters.
My engine having 6 poles, just in case, I changed bldc.0.poles 6 for --> bldc.0.poles -6.

Now, in low speed, my engine seems "turns".
For example
At first I read 0.000 on the dro
for an "increment (+)" 1 mm, I read 1.001
for an "increment (-)" 1 mm, I read -1.003
(on average)

* For another engine, how "to write" a pattern bldc ?

For the moment,
F-error = 20
F-minerror = 0.05
P 10, I = 0 D= 0
Deadband = 0.001
to change I or D (little values) does not seem to improve something.
Nevertheless, Halscope (pin bldc.0.output )
show three oscillations of the same amplitude before getting "down again".

* What is necessary it to modify now?