Mesa 7i39+5i20

It _looks_ like you missed the
sudo make setuid
stage of the compile. You will need to type the root password after that command.

Glad to hear it.

The next few days should see the release of a new "bldc" component into the development branch that combines the functions of bldc_sine and bldc_hall into one much more capable component (it will, for example, start a motor with hall sensors and an encoder in hall/trapezoidal commutation then switch to sinusoidal commutation once it has an angle fix from a Hall transition or (optionally) from the encoder index.

It has been extensively tested with the 7i39.

nikos.chalikias wrote:

- The head (Z is included in the head) should be DC motor (weight 20 gram) and linear encoder, due to low mass of the motor, low cost and good speed

I think a small brushless motor might work better, it should certainly last longer.

The rotation of the component (axis A) is included in the Z plate. It should turn very presisely and be very light. Best approach (...found yet) is a small Step-motor (60grams -2oz with 200 steps/rot) and microstep driver.

A stepper motor is probably a good solution, but there is no reason that a brushless motor with an encoder couldn't work equally well, and might be faster.

nikos.chalikias wrote:

Now that it is possible to restart EMC2.5 I am trying to move one BLDC motor
Encoder is 500 cpr

You have bldc_sine.0.scale as 2000. That is very unlikely to be right with a 500cpr encoder.

Do you know how many poles your motor has? If you apply a very small current to the motor between any two phases you should be able to feel them, normally 2, 3 or 4 "pulses" will be felt turning the motor by hand for 4, 6 or 8 motor poles.

By how much does rawcounts increase with one full revolution of the motor?

The bldc_sine.0.scale value needs to be one full revolutions-worth of rawcounts divided by the number of motor poles. (the scale is how many counts there are per _electrical_ revolution)

Bear in mind that bldc_sine has not been released, and in fact is never going to be released, it has been replaced by a much more capable .comp called simply "bldc" which handles all motor types. This component uses a different way to define the scale, as I realised that 6 pole motors were impossible to give an accurate enough scale to.