Setting up 5i25+7i85+8i20

Is this because it is spinning too fast? If the motor isn't under load (ie isn't connected to the machine) it is possible that things will work better then. (If it's a spindle, then this won't help)

You could try running the servo thread faster, if the machine can handle it,

It hunts, you can hear it speeding up and slowing down a little bit. It's most noticable when the motor is not connected to the spindle belt, but when it is hooked up to the spindle belt the motor itself seems to smooth out but then you can hear the spindle splines chatter inside the quill. I contribute this to the motor speed increasing and decreasing slightly.

I'm not sure I ever made sense of whether the servo thread rate was taxed or not. I've ran latency tests and whatnot and it generally looks OK, but I'm not sure how to tell if there's actually an issue. I get that standard servo thread error every once in a while, but I've never seen a following error.

PCW wrote: Yes, as a torque mode drive you need to have some kind of speed control implemented

Simple speed control, or positioning?

I know the hall sensors are used for commutation, but I assumed the BLDC component also used them for speed control. I've only ran the motor with that test file, so there's no PID loop or anything applied

I was waiting on a new NPN hall sensor for the spindle so I can use it with the encoder input. This is only a 4 hole disk but it will feedback speed at least. Is a 16 ppr signal on the other end of a belted (non synchronous) load precise enough?

I saw this coming so I ordered a 1000ppr differential encoder. The motor has a rear output shaft so it's not that big of a deal to turn it into a servo. Unfortunately it's going to be a couple of weeks before I get ahold of the encoder and coupling. This also means I have to ditch the NPN hall sensor for spindle speed.

In any case you will need speed feedback, sure how that will work with just hall effect
sensors

PCW wrote: In any case you will need speed feedback, sure how that will work with just hall effect
sensors

It would probably work quite well if the bldc component had a velocity output. But that is something I forgot to add.

A ddt on the angle data ought to work, except that it wraps every rev.
So probably a little hal component would be needed

andypugh wrote:

PCW wrote: In any case you will need speed feedback, sure how that will work with just hall effect
sensors

It would probably work quite well if the bldc component had a velocity output. But that is something I forgot to add.

A ddt on the angle data ought to work, except that it wraps every rev.
So probably a little hal component would be needed

May sound silly but can't the signal fromnone hall sensor pin be connected to the encoder component to provide a velocity? It's been a while since I messed with hal

Yes, you can use the output from 1 (counter mode) or 2 (quadrature mode) hall sensors into the encoder component, but the duty-cycle isn't quite right so some smoothing would be needed.