7i97+8i20 error function not found

What are the motor ratings?

I suspect

setp bldc.0.initvalue .5

(0.5A) is not anywhere enough current to align the motor

Tried to put that to 10, no difference

With the latest drivers you should be able to setp the nvmaxcurrent in the HAL file.

Once it has run and been updated it is probably a good idea to comment the line out, or it will write to the eeprom every startup, which isn't ideal.

Currently in halshow nvmaxcurrent is 750

For commutation, the gray-code option has the advantage that the motor can make full torque from startup without needing to do an alignment step.

I think it would be a good idea to just get a motor turning first. One way to do this would be to use pure "f" mode, so that the quadrature encoder is ignored and the motor should run block-commutated.

If you can't jog in pure "f" mode then you need to look at your PID tuning.

I tried to use only "f" mode and commented all "q" out, still can not make anything to move or resist I tried to alter all the PID values from "known to propably work" to anything else, but no difference

This is the current servo i am copying with..

 

And current wiring if something seems off here... 8i20 from left to right: servo GND, UZ, VZ, WZ, battery - (55vdc), battery +, and additional groung to the servo, then enable 5vdc + - on the  smaller tb6 connector..

   

what does:

halcmd show all hm2

report?

Also my guess is that the stall current listed on the motor nameplate
is the continuous stall current, not the peak current. So its likely
that you would need to set the 8I20s peak current to 20 or 30 A
(2000 or 3000) to get the full potential torque from the motor

what does:

halcmd show all hm2

report?

saquzi@debian:~$ halcmd show all hm2
Loaded HAL Components:
ID Type Name PID State
26 RT hm2_eth ready

Component Pins:
Owner Type Dir Value Name
26 s32 OUT 2098000000 hm2_7i97.0.0.debug
26 float IN 0.03125 hm2_7i97.0.8i20.0.0.angle <== motor.00.angle
26 float OUT 55.04 hm2_7i97.0.8i20.0.0.bus-voltage
26 float OUT 24 hm2_7i97.0.8i20.0.0.card-temp
26 float IN 0 hm2_7i97.0.8i20.0.0.current <== motor.00.current
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.fault.U-current
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.fault.U-current-not
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.fault.V-current
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.fault.V-current-not
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.fault.W-current
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.fault.W-current-not
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.fault.bus-high
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.fault.bus-high-not
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.fault.bus-overv
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.fault.bus-overv-not
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.fault.bus-underv
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.fault.bus-underv-not
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.fault.framingr
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.fault.framingr-not
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.fault.module
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.fault.module-not
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.fault.no-enable
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.fault.no-enable-not
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.fault.overcurrent
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.fault.overcurrent-not
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.fault.overrun
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.fault.overrun-not
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.fault.overtemp
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.fault.overtemp-not
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.fault.watchdog
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.fault.watchdog-not
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.status.brake-old
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.status.brake-old-not
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.status.brake-on
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.status.brake-on-not
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.status.bus-underv
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.status.bus-underv-not
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.status.current-lim
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.status.current-lim-not
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.status.ext-reset
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.status.ext-reset-not
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.status.no-enable
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.status.no-enable-not
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.status.pid-on
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.status.pid-on-not
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.status.sw-reset
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.status.sw-reset-not
26 bit OUT FALSE hm2_7i97.0.8i20.0.0.status.wd-reset
26 bit OUT TRUE hm2_7i97.0.8i20.0.0.status.wd-reset-not
26 float IN -50 hm2_7i97.0.dpll.01.timer-us
26 float IN 100 hm2_7i97.0.dpll.02.timer-us
26 float IN 100 hm2_7i97.0.dpll.03.timer-us
26 float IN 100 hm2_7i97.0.dpll.04.timer-us
26 float IN 1 hm2_7i97.0.dpll.base-freq-khz
26 u32 OUT 0x0000002A hm2_7i97.0.dpll.ddsize
26 float OUT 11.09653 hm2_7i97.0.dpll.phase-error-us
26 u32 IN 0x00400000 hm2_7i97.0.dpll.plimit
26 u32 OUT 0x00000018 hm2_7i97.0.dpll.prescale
26 u32 IN 0x000007D0 hm2_7i97.0.dpll.time-const
26 s32 OUT 0 hm2_7i97.0.encoder.00.count
26 s32 OUT 0 hm2_7i97.0.encoder.00.count-latched
26 bit I/O FALSE hm2_7i97.0.encoder.00.index-enable
26 bit OUT TRUE hm2_7i97.0.encoder.00.input-a
26 bit OUT TRUE hm2_7i97.0.encoder.00.input-b
26 bit OUT FALSE hm2_7i97.0.encoder.00.input-index
26 bit IN FALSE hm2_7i97.0.encoder.00.latch-enable
26 bit IN FALSE hm2_7i97.0.encoder.00.latch-polarity
26 float OUT 0 hm2_7i97.0.encoder.00.position ==> motor.00.pos-fb
26 float OUT 0 hm2_7i97.0.encoder.00.position-latched
26 bit OUT FALSE hm2_7i97.0.encoder.00.quad-error
26 bit IN FALSE hm2_7i97.0.encoder.00.quad-error-enable
26 s32 OUT 0 hm2_7i97.0.encoder.00.rawcounts
26 s32 OUT 0 hm2_7i97.0.encoder.00.rawlatch
26 bit IN FALSE hm2_7i97.0.encoder.00.reset
26 float OUT 0 hm2_7i97.0.encoder.00.velocity ==> motor.00.vel-fb
26 float OUT 0 hm2_7i97.0.encoder.00.velocity-rpm
26 s32 OUT 0 hm2_7i97.0.encoder.01.count
26 s32 OUT 0 hm2_7i97.0.encoder.01.count-latched
26 bit I/O FALSE hm2_7i97.0.encoder.01.index-enable
26 bit OUT FALSE hm2_7i97.0.encoder.01.input-a
26 bit OUT FALSE hm2_7i97.0.encoder.01.input-b
26 bit OUT FALSE hm2_7i97.0.encoder.01.input-index
26 bit IN FALSE hm2_7i97.0.encoder.01.latch-enable
26 bit IN FALSE hm2_7i97.0.encoder.01.latch-polarity
26 float OUT 0 hm2_7i97.0.encoder.01.position
26 float OUT 0 hm2_7i97.0.encoder.01.position-latched
26 bit OUT FALSE hm2_7i97.0.encoder.01.quad-error
26 bit IN FALSE hm2_7i97.0.encoder.01.quad-error-enable
26 s32 OUT 0 hm2_7i97.0.encoder.01.rawcounts
26 s32 OUT 0 hm2_7i97.0.encoder.01.rawlatch
26 bit IN FALSE hm2_7i97.0.encoder.01.reset
26 float OUT 0 hm2_7i97.0.encoder.01.velocity
26 float OUT 0 hm2_7i97.0.encoder.01.velocity-rpm
26 s32 OUT 0 hm2_7i97.0.encoder.02.count
26 s32 OUT 0 hm2_7i97.0.encoder.02.count-latched
26 bit I/O FALSE hm2_7i97.0.encoder.02.index-enable
26 bit OUT FALSE hm2_7i97.0.encoder.02.input-a
26 bit OUT TRUE hm2_7i97.0.encoder.02.input-b
26 bit OUT FALSE hm2_7i97.0.encoder.02.input-index
26 bit IN FALSE hm2_7i97.0.encoder.02.latch-enable
26 bit IN FALSE hm2_7i97.0.encoder.02.latch-polarity
26 float OUT 0 hm2_7i97.0.encoder.02.position
26 float OUT 0 hm2_7i97.0.encoder.02.position-latched
26 bit OUT FALSE hm2_7i97.0.encoder.02.quad-error
26 bit IN FALSE hm2_7i97.0.encoder.02.quad-error-enable
26 s32 OUT 1 hm2_7i97.0.encoder.02.rawcounts
26 s32 OUT 1 hm2_7i97.0.encoder.02.rawlatch
26 bit IN FALSE hm2_7i97.0.encoder.02.reset
26 float OUT 0 hm2_7i97.0.encoder.02.velocity
26 float OUT 0 hm2_7i97.0.encoder.02.velocity-rpm
26 s32 OUT 0 hm2_7i97.0.encoder.03.count
26 s32 OUT 0 hm2_7i97.0.encoder.03.count-latched
26 bit I/O FALSE hm2_7i97.0.encoder.03.index-enable
26 bit OUT TRUE hm2_7i97.0.encoder.03.input-a
26 bit OUT TRUE hm2_7i97.0.encoder.03.input-b
26 bit OUT TRUE hm2_7i97.0.encoder.03.input-index
26 bit IN FALSE hm2_7i97.0.encoder.03.latch-enable
26 bit IN FALSE hm2_7i97.0.encoder.03.latch-polarity
26 float OUT 0 hm2_7i97.0.encoder.03.position
26 float OUT 0 hm2_7i97.0.encoder.03.position-latched
26 bit OUT FALSE hm2_7i97.0.encoder.03.quad-error
26 bit IN FALSE hm2_7i97.0.encoder.03.quad-error-enable
26 s32 OUT 0 hm2_7i97.0.encoder.03.rawcounts
26 s32 OUT 0 hm2_7i97.0.encoder.03.rawlatch
26 bit IN FALSE hm2_7i97.0.encoder.03.reset
26 float OUT 0 hm2_7i97.0.encoder.03.velocity
26 float OUT 0 hm2_7i97.0.encoder.03.velocity-rpm
26 s32 OUT 0 hm2_7i97.0.encoder.04.count
26 s32 OUT 0 hm2_7i97.0.encoder.04.count-latched
26 bit I/O FALSE hm2_7i97.0.encoder.04.index-enable
26 bit OUT FALSE hm2_7i97.0.encoder.04.input-a
26 bit OUT FALSE hm2_7i97.0.encoder.04.input-b
26 bit OUT TRUE hm2_7i97.0.encoder.04.input-index
26 bit IN FALSE hm2_7i97.0.encoder.04.latch-enable
26 bit IN FALSE hm2_7i97.0.encoder.04.latch-polarity
26 float OUT 0 hm2_7i97.0.encoder.04.position
26 float OUT 0 hm2_7i97.0.encoder.04.position-latched
26 bit OUT FALSE hm2_7i97.0.encoder.04.quad-error
26 bit IN FALSE hm2_7i97.0.encoder.04.quad-error-enable
26 s32 OUT 0 hm2_7i97.0.encoder.04.rawcounts
26 s32 OUT 0 hm2_7i97.0.encoder.04.rawlatch
26 bit IN FALSE hm2_7i97.0.encoder.04.reset
26 float OUT 0 hm2_7i97.0.encoder.04.velocity
26 float OUT 0 hm2_7i97.0.encoder.04.velocity-rpm
26 s32 OUT 0 hm2_7i97.0.encoder.05.count
26 s32 OUT 0 hm2_7i97.0.encoder.05.count-latched
26 bit I/O FALSE hm2_7i97.0.encoder.05.index-enable
26 bit OUT TRUE hm2_7i97.0.encoder.05.input-a
26 bit OUT FALSE hm2_7i97.0.encoder.05.input-b
26 bit OUT FALSE hm2_7i97.0.encoder.05.input-index
26 bit IN FALSE hm2_7i97.0.encoder.05.latch-enable
26 bit IN FALSE hm2_7i97.0.encoder.05.latch-polarity
26 float OUT 0 hm2_7i97.0.encoder.05.position
26 float OUT 0 hm2_7i97.0.encoder.05.position-latched
26 bit OUT FALSE hm2_7i97.0.encoder.05.quad-error
26 bit IN FALSE hm2_7i97.0.encoder.05.quad-error-enable
26 s32 OUT 1 hm2_7i97.0.encoder.05.rawcounts
26 s32 OUT 1 hm2_7i97.0.encoder.05.rawlatch
26 bit IN FALSE hm2_7i97.0.encoder.05.reset
26 float OUT 0 hm2_7i97.0.encoder.05.velocity
26 float OUT 0 hm2_7i97.0.encoder.05.velocity-rpm
26 bit IN FALSE hm2_7i97.0.encoder.hires-timestamp
26 u32 IN 0x007F2815 hm2_7i97.0.encoder.muxed-sample-frequency
26 u32 IN 0x00000000 hm2_7i97.0.encoder.muxed-skew
26 s32 IN -1 hm2_7i97.0.encoder.timer-number
26 bit OUT TRUE hm2_7i97.0.gpio.000.in
26 bit OUT FALSE hm2_7i97.0.gpio.000.in_not
26 bit IN FALSE hm2_7i97.0.gpio.000.out
26 bit OUT TRUE hm2_7i97.0.gpio.001.in
26 bit OUT FALSE hm2_7i97.0.gpio.001.in_not
26 bit IN FALSE hm2_7i97.0.gpio.001.out
26 bit OUT TRUE hm2_7i97.0.gpio.002.in
26 bit OUT FALSE hm2_7i97.0.gpio.002.in_not
26 bit IN FALSE hm2_7i97.0.gpio.002.out
26 bit OUT TRUE hm2_7i97.0.gpio.003.in
26 bit OUT FALSE hm2_7i97.0.gpio.003.in_not
26 bit IN FALSE hm2_7i97.0.gpio.003.out
26 bit OUT TRUE hm2_7i97.0.gpio.004.in
26 bit OUT FALSE hm2_7i97.0.gpio.004.in_not
26 bit IN FALSE hm2_7i97.0.gpio.004.out
26 bit OUT TRUE hm2_7i97.0.gpio.005.in
26 bit OUT FALSE hm2_7i97.0.gpio.005.in_not
26 bit IN FALSE hm2_7i97.0.gpio.005.out
26 bit OUT TRUE hm2_7i97.0.gpio.006.in
26 bit OUT FALSE hm2_7i97.0.gpio.006.in_not
26 bit IN FALSE hm2_7i97.0.gpio.006.out
26 bit OUT TRUE hm2_7i97.0.gpio.007.in
26 bit OUT FALSE hm2_7i97.0.gpio.007.in_not
26 bit IN FALSE hm2_7i97.0.gpio.007.out
26 bit OUT TRUE hm2_7i97.0.gpio.008.in
26 bit OUT FALSE hm2_7i97.0.gpio.008.in_not
26 bit IN FALSE hm2_7i97.0.gpio.008.out
26 bit OUT TRUE hm2_7i97.0.gpio.009.in
26 bit OUT FALSE hm2_7i97.0.gpio.009.in_not
26 bit OUT TRUE hm2_7i97.0.gpio.010.in
26 bit OUT FALSE hm2_7i97.0.gpio.010.in_not
26 bit OUT TRUE hm2_7i97.0.gpio.011.in
26 bit OUT FALSE hm2_7i97.0.gpio.011.in_not
26 bit OUT FALSE hm2_7i97.0.gpio.012.in
26 bit OUT FALSE hm2_7i97.0.gpio.012.in_not
26 bit OUT TRUE hm2_7i97.0.gpio.013.in
26 bit OUT FALSE hm2_7i97.0.gpio.013.in_not
26 bit OUT FALSE hm2_7i97.0.gpio.014.in
26 bit OUT TRUE hm2_7i97.0.gpio.014.in_not
26 bit OUT TRUE hm2_7i97.0.gpio.015.in
26 bit OUT FALSE hm2_7i97.0.gpio.015.in_not
26 bit OUT FALSE hm2_7i97.0.gpio.016.in
26 bit OUT TRUE hm2_7i97.0.gpio.016.in_not
26 bit OUT TRUE hm2_7i97.0.gpio.017.in
26 bit OUT FALSE hm2_7i97.0.gpio.017.in_not
26 bit OUT TRUE hm2_7i97.0.gpio.018.in
26 bit OUT FALSE hm2_7i97.0.gpio.018.in_not
26 bit OUT FALSE hm2_7i97.0.gpio.019.in
26 bit OUT TRUE hm2_7i97.0.gpio.019.in_not
26 bit OUT FALSE hm2_7i97.0.gpio.020.in
26 bit OUT TRUE hm2_7i97.0.gpio.020.in_not
26 bit OUT FALSE hm2_7i97.0.gpio.021.in
26 bit OUT TRUE hm2_7i97.0.gpio.021.in_not
26 bit OUT FALSE hm2_7i97.0.gpio.022.in
26 bit OUT TRUE hm2_7i97.0.gpio.022.in_not
26 bit OUT FALSE hm2_7i97.0.gpio.023.in
26 bit OUT TRUE hm2_7i97.0.gpio.023.in_not
26 bit OUT FALSE hm2_7i97.0.gpio.024.in
26 bit OUT TRUE hm2_7i97.0.gpio.024.in_not
26 bit OUT FALSE hm2_7i97.0.gpio.025.in
26 bit OUT TRUE hm2_7i97.0.gpio.025.in_not
26 bit OUT FALSE hm2_7i97.0.gpio.026.in
26 bit OUT TRUE hm2_7i97.0.gpio.026.in_not
26 bit OUT FALSE hm2_7i97.0.gpio.027.in
26 bit OUT TRUE hm2_7i97.0.gpio.027.in_not
26 bit OUT FALSE hm2_7i97.0.gpio.028.in
26 bit OUT TRUE hm2_7i97.0.gpio.028.in_not
26 bit OUT TRUE hm2_7i97.0.gpio.029.in
26 bit OUT FALSE hm2_7i97.0.gpio.029.in_not
26 bit OUT TRUE hm2_7i97.0.gpio.030.in
26 bit OUT FALSE hm2_7i97.0.gpio.030.in_not
26 bit OUT TRUE hm2_7i97.0.gpio.031.in
26 bit OUT FALSE hm2_7i97.0.gpio.031.in_not
26 bit OUT TRUE hm2_7i97.0.gpio.032.in
26 bit OUT FALSE hm2_7i97.0.gpio.032.in_not
26 bit OUT FALSE hm2_7i97.0.gpio.033.in
26 bit OUT TRUE hm2_7i97.0.gpio.033.in_not
26 bit OUT TRUE hm2_7i97.0.gpio.034.in
26 bit OUT FALSE hm2_7i97.0.gpio.034.in_not
26 bit IN FALSE hm2_7i97.0.gpio.034.out
26 bit OUT TRUE hm2_7i97.0.gpio.035.in
26 bit OUT FALSE hm2_7i97.0.gpio.035.in_not
26 bit IN FALSE hm2_7i97.0.gpio.035.out
26 bit OUT TRUE hm2_7i97.0.gpio.036.in
26 bit OUT FALSE hm2_7i97.0.gpio.036.in_not
26 bit IN FALSE hm2_7i97.0.gpio.036.out
26 bit OUT TRUE hm2_7i97.0.gpio.037.in
26 bit OUT FALSE hm2_7i97.0.gpio.037.in_not
26 bit IN FALSE hm2_7i97.0.gpio.037.out
26 bit OUT TRUE hm2_7i97.0.gpio.038.in
26 bit OUT FALSE hm2_7i97.0.gpio.038.in_not
26 bit IN FALSE hm2_7i97.0.gpio.038.out
26 bit OUT TRUE hm2_7i97.0.gpio.039.in
26 bit OUT FALSE hm2_7i97.0.gpio.039.in_not
26 bit IN FALSE hm2_7i97.0.gpio.039.out
26 bit OUT TRUE hm2_7i97.0.gpio.040.in
26 bit OUT FALSE hm2_7i97.0.gpio.040.in_not
26 bit IN FALSE hm2_7i97.0.gpio.040.out
26 bit OUT TRUE hm2_7i97.0.gpio.041.in
26 bit OUT FALSE hm2_7i97.0.gpio.041.in_not
26 bit IN FALSE hm2_7i97.0.gpio.041.out
26 bit OUT TRUE hm2_7i97.0.gpio.042.in
26 bit OUT FALSE hm2_7i97.0.gpio.042.in_not
26 bit IN FALSE hm2_7i97.0.gpio.042.out
26 bit OUT TRUE hm2_7i97.0.gpio.043.in
26 bit OUT FALSE hm2_7i97.0.gpio.043.in_not
26 bit IN FALSE hm2_7i97.0.gpio.043.out
26 bit OUT TRUE hm2_7i97.0.gpio.044.in
26 bit OUT FALSE hm2_7i97.0.gpio.044.in_not
26 bit IN FALSE hm2_7i97.0.gpio.044.out
26 bit OUT TRUE hm2_7i97.0.gpio.045.in
26 bit OUT FALSE hm2_7i97.0.gpio.045.in_not
26 bit IN FALSE hm2_7i97.0.gpio.045.out
26 bit OUT TRUE hm2_7i97.0.gpio.046.in
26 bit OUT FALSE hm2_7i97.0.gpio.046.in_not
26 bit IN FALSE hm2_7i97.0.gpio.046.out
26 bit OUT TRUE hm2_7i97.0.gpio.047.in
26 bit OUT FALSE hm2_7i97.0.gpio.047.in_not
26 bit IN FALSE hm2_7i97.0.gpio.047.out
26 bit OUT TRUE hm2_7i97.0.gpio.048.in
26 bit OUT FALSE hm2_7i97.0.gpio.048.in_not
26 bit IN FALSE hm2_7i97.0.gpio.048.out
26 bit OUT TRUE hm2_7i97.0.gpio.049.in
26 bit OUT FALSE hm2_7i97.0.gpio.049.in_not
26 bit IN FALSE hm2_7i97.0.gpio.049.out
26 bit OUT TRUE hm2_7i97.0.gpio.050.in
26 bit OUT FALSE hm2_7i97.0.gpio.050.in_not
26 bit IN FALSE hm2_7i97.0.gpio.050.out
26 s32 OUT 0 hm2_7i97.0.inmux.00.enc0-count
26 s32 OUT -1 hm2_7i97.0.inmux.00.enc1-count
26 s32 OUT 0 hm2_7i97.0.inmux.00.enc2-count
26 s32 OUT 0 hm2_7i97.0.inmux.00.enc3-count
26 bit OUT FALSE hm2_7i97.0.inmux.00.input-00
26 bit OUT TRUE hm2_7i97.0.inmux.00.input-00-not
26 bit IN FALSE hm2_7i97.0.inmux.00.input-00-slow
26 bit OUT FALSE hm2_7i97.0.inmux.00.input-01
26 bit OUT TRUE hm2_7i97.0.inmux.00.input-01-not
26 bit IN FALSE hm2_7i97.0.inmux.00.input-01-slow
26 bit OUT FALSE hm2_7i97.0.inmux.00.input-02
26 bit OUT TRUE hm2_7i97.0.inmux.00.input-02-not
26 bit IN FALSE hm2_7i97.0.inmux.00.input-02-slow
26 bit OUT FALSE hm2_7i97.0.inmux.00.input-03
26 bit OUT TRUE hm2_7i97.0.inmux.00.input-03-not
26 bit IN FALSE hm2_7i97.0.inmux.00.input-03-slow
26 bit OUT FALSE hm2_7i97.0.inmux.00.input-04
26 bit OUT TRUE hm2_7i97.0.inmux.00.input-04-not
26 bit IN FALSE hm2_7i97.0.inmux.00.input-04-slow
26 bit OUT FALSE hm2_7i97.0.inmux.00.input-05
26 bit OUT TRUE hm2_7i97.0.inmux.00.input-05-not
26 bit IN FALSE hm2_7i97.0.inmux.00.input-05-slow
26 bit OUT FALSE hm2_7i97.0.inmux.00.input-06
26 bit OUT TRUE hm2_7i97.0.inmux.00.input-06-not
26 bit IN FALSE hm2_7i97.0.inmux.00.input-06-slow
26 bit OUT FALSE hm2_7i97.0.inmux.00.input-07
26 bit OUT TRUE hm2_7i97.0.inmux.00.input-07-not
26 bit IN FALSE hm2_7i97.0.inmux.00.input-07-slow
26 bit OUT FALSE hm2_7i97.0.inmux.00.input-08
26 bit OUT TRUE hm2_7i97.0.inmux.00.input-08-not
26 bit IN FALSE hm2_7i97.0.inmux.00.input-08-slow
26 bit OUT FALSE hm2_7i97.0.inmux.00.input-09
26 bit OUT TRUE hm2_7i97.0.inmux.00.input-09-not
26 bit IN FALSE hm2_7i97.0.inmux.00.input-09-slow
26 bit OUT TRUE hm2_7i97.0.inmux.00.input-10
26 bit OUT FALSE hm2_7i97.0.inmux.00.input-10-not
26 bit IN FALSE hm2_7i97.0.inmux.00.input-10-slow
26 bit OUT FALSE hm2_7i97.0.inmux.00.input-11
26 bit OUT TRUE hm2_7i97.0.inmux.00.input-11-not
26 bit IN FALSE hm2_7i97.0.inmux.00.input-11-slow
26 bit OUT FALSE hm2_7i97.0.inmux.00.input-12
26 bit OUT TRUE hm2_7i97.0.inmux.00.input-12-not
26 bit IN FALSE hm2_7i97.0.inmux.00.input-12-slow
26 bit OUT FALSE hm2_7i97.0.inmux.00.input-13
26 bit OUT TRUE hm2_7i97.0.inmux.00.input-13-not
26 bit IN FALSE hm2_7i97.0.inmux.00.input-13-slow
26 bit OUT FALSE hm2_7i97.0.inmux.00.input-14
26 bit OUT TRUE hm2_7i97.0.inmux.00.input-14-not
26 bit IN FALSE hm2_7i97.0.inmux.00.input-14-slow
26 bit OUT FALSE hm2_7i97.0.inmux.00.input-15
26 bit OUT TRUE hm2_7i97.0.inmux.00.input-15-not
26 bit IN FALSE hm2_7i97.0.inmux.00.input-15-slow
26 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-00
26 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-00-not
26 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-01
26 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-01-not
26 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-02
26 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-02-not
26 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-03
26 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-03-not
26 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-04
26 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-04-not
26 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-05
26 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-05-not
26 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-06
26 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-06-not
26 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-07
26 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-07-not
26 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-08
26 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-08-not
26 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-09
26 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-09-not
26 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-10
26 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-10-not
26 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-11
26 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-11-not
26 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-12
26 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-12-not
26 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-13
26 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-13-not
26 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-14
26 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-14-not
26 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-15
26 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-15-not
26 bit IN FALSE hm2_7i97.0.led.CR01
26 bit IN FALSE hm2_7i97.0.led.CR02
26 bit IN FALSE hm2_7i97.0.led.CR03
26 bit IN FALSE hm2_7i97.0.led.CR04
26 bit OUT FALSE hm2_7i97.0.packet-error
26 bit OUT FALSE hm2_7i97.0.packet-error-exceeded
26 s32 OUT 0 hm2_7i97.0.packet-error-level
26 s32 OUT 0 hm2_7i97.0.read-request.time
26 s32 OUT 459088 hm2_7i97.0.read.time
26 u32 OUT 0x00000000 hm2_7i97.0.sserial.port-0.fault-count
26 u32 OUT 0x00000003 hm2_7i97.0.sserial.port-0.port_state
26 u32 OUT 0x00000000 hm2_7i97.0.sserial.port-0.port_state2
26 u32 OUT 0x00000000 hm2_7i97.0.sserial.port-0.port_state3
26 bit IN TRUE hm2_7i97.0.sserial.port-0.run
26 bit IN FALSE hm2_7i97.0.ssr.00.out-00
26 bit IN FALSE hm2_7i97.0.ssr.00.out-01
26 bit IN FALSE hm2_7i97.0.ssr.00.out-02
26 bit IN FALSE hm2_7i97.0.ssr.00.out-03
26 bit IN FALSE hm2_7i97.0.ssr.00.out-04
26 bit IN FALSE hm2_7i97.0.ssr.00.out-05
26 u32 IN 0x000F4240 hm2_7i97.0.ssr.00.rate
26 bit I/O FALSE hm2_7i97.0.watchdog.has_bit
26 s32 OUT 47718 hm2_7i97.0.write.time

Pin Aliases:
Alias Original Name

Signals:
Type Value Name (linked to)

Parameters:
Owner Type Dir Value Name
26 float RW 1 hm2_7i97.0.8i20.0.0.angle-maxlim
26 float RW 0 hm2_7i97.0.8i20.0.0.angle-minlim
26 float RW 1 hm2_7i97.0.8i20.0.0.angle-scalemax
26 float RW 655.35 hm2_7i97.0.8i20.0.0.bus-voltage-scalemax
26 float RW 65535 hm2_7i97.0.8i20.0.0.card-temp-scalemax
26 float RW 30 hm2_7i97.0.8i20.0.0.current-maxlim
26 float RW -30 hm2_7i97.0.8i20.0.0.current-minlim
26 float RW 30 hm2_7i97.0.8i20.0.0.current-scalemax
26 u32 RW 0x000088B8 hm2_7i97.0.8i20.0.0.nvbrakeoffv
26 u32 RW 0x00009088 hm2_7i97.0.8i20.0.0.nvbrakeonv
26 u32 RW 0x00009664 hm2_7i97.0.8i20.0.0.nvbusoverv
26 u32 RW 0x00001194 hm2_7i97.0.8i20.0.0.nvbusundervmax
26 u32 RW 0x00000DAC hm2_7i97.0.8i20.0.0.nvbusundervmin
26 u32 RW 0x00000000 hm2_7i97.0.8i20.0.0.nvkdihi
26 u32 RW 0x00007D00 hm2_7i97.0.8i20.0.0.nvkdil
26 u32 RW 0x0000C350 hm2_7i97.0.8i20.0.0.nvkdilo
26 u32 RW 0x00000032 hm2_7i97.0.8i20.0.0.nvkdp
26 u32 RW 0x00000000 hm2_7i97.0.8i20.0.0.nvkqihi
26 u32 RW 0x00007D00 hm2_7i97.0.8i20.0.0.nvkqil
26 u32 RW 0x0000C350 hm2_7i97.0.8i20.0.0.nvkqilo
26 u32 RW 0x00000032 hm2_7i97.0.8i20.0.0.nvkqp
26 u32 RW 0x000002EE hm2_7i97.0.8i20.0.0.nvmaxcurrent
26 u32 RW 0x00000009 hm2_7i97.0.8i20.0.0.nvrembaudrate
26 u32 RO 0x0000008B hm2_7i97.0.8i20.0.0.swrevision
26 u32 RO 0x0A000112 hm2_7i97.0.8i20.0.0.unitnumber
26 bit RW FALSE hm2_7i97.0.encoder.00.counter-mode
26 bit RW TRUE hm2_7i97.0.encoder.00.filter
26 bit RW FALSE hm2_7i97.0.encoder.00.index-invert
26 bit RW TRUE hm2_7i97.0.encoder.00.index-mask
26 bit RW FALSE hm2_7i97.0.encoder.00.index-mask-invert
26 float RW 1000 hm2_7i97.0.encoder.00.scale
26 bit RW FALSE hm2_7i97.0.encoder.00.sel0.invert_output
26 bit RW FALSE hm2_7i97.0.encoder.00.sel0.is_opendrain
26 float RW 0.5 hm2_7i97.0.encoder.00.vel-timeout
26 bit RW FALSE hm2_7i97.0.encoder.01.counter-mode
26 bit RW TRUE hm2_7i97.0.encoder.01.filter
26 bit RW FALSE hm2_7i97.0.encoder.01.index-invert
26 bit RW FALSE hm2_7i97.0.encoder.01.index-mask
26 bit RW FALSE hm2_7i97.0.encoder.01.index-mask-invert
26 float RW 1 hm2_7i97.0.encoder.01.scale
26 float RW 0.5 hm2_7i97.0.encoder.01.vel-timeout
26 bit RW FALSE hm2_7i97.0.encoder.02.counter-mode
26 bit RW TRUE hm2_7i97.0.encoder.02.filter
26 bit RW FALSE hm2_7i97.0.encoder.02.index-invert
26 bit RW FALSE hm2_7i97.0.encoder.02.index-mask
26 bit RW FALSE hm2_7i97.0.encoder.02.index-mask-invert
26 float RW 1 hm2_7i97.0.encoder.02.scale
26 float RW 0.5 hm2_7i97.0.encoder.02.vel-timeout
26 bit RW FALSE hm2_7i97.0.encoder.03.counter-mode
26 bit RW TRUE hm2_7i97.0.encoder.03.filter
26 bit RW FALSE hm2_7i97.0.encoder.03.index-invert
26 bit RW FALSE hm2_7i97.0.encoder.03.index-mask
26 bit RW FALSE hm2_7i97.0.encoder.03.index-mask-invert
26 float RW 1 hm2_7i97.0.encoder.03.scale
26 float RW 0.5 hm2_7i97.0.encoder.03.vel-timeout
26 bit RW FALSE hm2_7i97.0.encoder.04.counter-mode
26 bit RW TRUE hm2_7i97.0.encoder.04.filter
26 bit RW FALSE hm2_7i97.0.encoder.04.index-invert
26 bit RW FALSE hm2_7i97.0.encoder.04.index-mask
26 bit RW FALSE hm2_7i97.0.encoder.04.index-mask-invert
26 float RW 1 hm2_7i97.0.encoder.04.scale
26 float RW 0.5 hm2_7i97.0.encoder.04.vel-timeout
26 bit RW FALSE hm2_7i97.0.encoder.05.counter-mode
26 bit RW TRUE hm2_7i97.0.encoder.05.filter
26 bit RW FALSE hm2_7i97.0.encoder.05.index-invert
26 bit RW FALSE hm2_7i97.0.encoder.05.index-mask
26 bit RW FALSE hm2_7i97.0.encoder.05.index-mask-invert
26 float RW 1 hm2_7i97.0.encoder.05.scale
26 float RW 0.5 hm2_7i97.0.encoder.05.vel-timeout
26 bit RW FALSE hm2_7i97.0.gpio.000.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.000.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.000.is_output
26 bit RW FALSE hm2_7i97.0.gpio.001.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.001.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.001.is_output
26 bit RW FALSE hm2_7i97.0.gpio.002.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.002.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.002.is_output
26 bit RW FALSE hm2_7i97.0.gpio.003.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.003.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.003.is_output
26 bit RW FALSE hm2_7i97.0.gpio.004.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.004.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.004.is_output
26 bit RW FALSE hm2_7i97.0.gpio.005.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.005.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.005.is_output
26 bit RW FALSE hm2_7i97.0.gpio.006.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.006.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.006.is_output
26 bit RW FALSE hm2_7i97.0.gpio.007.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.007.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.007.is_output
26 bit RW FALSE hm2_7i97.0.gpio.008.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.008.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.008.is_output
26 bit RW FALSE hm2_7i97.0.gpio.019.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.019.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.020.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.020.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.021.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.021.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.022.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.022.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.023.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.023.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.024.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.024.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.025.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.025.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.026.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.026.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.027.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.027.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.028.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.028.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.029.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.029.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.034.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.034.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.034.is_output
26 bit RW FALSE hm2_7i97.0.gpio.035.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.035.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.035.is_output
26 bit RW FALSE hm2_7i97.0.gpio.036.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.036.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.036.is_output
26 bit RW FALSE hm2_7i97.0.gpio.037.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.037.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.037.is_output
26 bit RW FALSE hm2_7i97.0.gpio.038.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.038.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.038.is_output
26 bit RW FALSE hm2_7i97.0.gpio.039.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.039.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.039.is_output
26 bit RW FALSE hm2_7i97.0.gpio.040.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.040.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.040.is_output
26 bit RW FALSE hm2_7i97.0.gpio.041.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.041.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.041.is_output
26 bit RW FALSE hm2_7i97.0.gpio.042.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.042.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.042.is_output
26 bit RW FALSE hm2_7i97.0.gpio.043.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.043.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.043.is_output
26 bit RW FALSE hm2_7i97.0.gpio.044.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.044.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.044.is_output
26 bit RW FALSE hm2_7i97.0.gpio.045.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.045.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.045.is_output
26 bit RW FALSE hm2_7i97.0.gpio.046.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.046.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.046.is_output
26 bit RW FALSE hm2_7i97.0.gpio.047.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.047.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.047.is_output
26 bit RW FALSE hm2_7i97.0.gpio.048.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.048.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.048.is_output
26 bit RW FALSE hm2_7i97.0.gpio.049.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.049.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.049.is_output
26 bit RW FALSE hm2_7i97.0.gpio.050.invert_output
26 bit RW FALSE hm2_7i97.0.gpio.050.is_opendrain
26 bit RW FALSE hm2_7i97.0.gpio.050.is_output
26 bit RW FALSE hm2_7i97.0.inmux.00.enc0_4xmode
26 bit RW FALSE hm2_7i97.0.inmux.00.enc1_4xmode
26 bit RW FALSE hm2_7i97.0.inmux.00.enc2_4xmode
26 bit RW FALSE hm2_7i97.0.inmux.00.enc3_4xmode
26 u32 RW 0x00000005 hm2_7i97.0.inmux.00.fast_scans
26 u32 RW 0x00004E20 hm2_7i97.0.inmux.00.scan_rate
26 u32 RO 0x00000010 hm2_7i97.0.inmux.00.scan_width
26 u32 RW 0x000001F4 hm2_7i97.0.inmux.00.slow_scans
26 bit RW FALSE hm2_7i97.0.io_error
26 s32 RO 1 hm2_7i97.0.packet-error-decrement
26 s32 RW 2 hm2_7i97.0.packet-error-increment
26 s32 RW 10 hm2_7i97.0.packet-error-limit
26 s32 RW 80 hm2_7i97.0.packet-read-timeout
26 s32 RW 0 hm2_7i97.0.read-request.tmax
26 bit RO FALSE hm2_7i97.0.read-request.tmax-increased
26 s32 RW 765220 hm2_7i97.0.read.tmax
26 bit RO FALSE hm2_7i97.0.read.tmax-increased
26 bit RW FALSE hm2_7i97.0.sserial.00.tx0.invert_output
26 bit RW FALSE hm2_7i97.0.sserial.00.tx0.is_opendrain
26 bit RW FALSE hm2_7i97.0.sserial.00.txen0.invert_output
26 bit RW FALSE hm2_7i97.0.sserial.00.txen0.is_opendrain
26 u32 RW 0x00000001 hm2_7i97.0.sserial.port-0.fault-dec
26 u32 RW 0x0000000A hm2_7i97.0.sserial.port-0.fault-inc
26 u32 RW 0x000000C8 hm2_7i97.0.sserial.port-0.fault-lim
26 u32 RW 0x004C4B40 hm2_7i97.0.watchdog.timeout_ns
26 s32 RW 143085 hm2_7i97.0.write.tmax
26 bit RO FALSE hm2_7i97.0.write.tmax-increased

Parameter Aliases:
Alias Original Name
hm2_7i97.0.encoder.00.sel0.invert_output hm2_7i97.0.gpio.018.invert_output
hm2_7i97.0.encoder.00.sel0.is_opendrain hm2_7i97.0.gpio.018.is_opendrain
hm2_7i97.0.sserial.00.tx0.invert_output hm2_7i97.0.gpio.032.invert_output
hm2_7i97.0.sserial.00.tx0.is_opendrain hm2_7i97.0.gpio.032.is_opendrain
hm2_7i97.0.sserial.00.txen0.invert_output hm2_7i97.0.gpio.033.invert_output
hm2_7i97.0.sserial.00.txen0.is_opendrain hm2_7i97.0.gpio.033.is_opendrain

Exported Functions:
Owner CodeAddr Arg FP Users Name
00026 7fa9b1d0d8b5 55d6afc75b20 YES 1 hm2_7i97.0.read
00026 7fa9b1d0d841 55d6afc75b20 YES 0 hm2_7i97.0.read-request
00026 7fa9b1d0d709 55d6afc75b20 YES 1 hm2_7i97.0.write

Realtime Threads:
Period FP Name ( Time, Max-Time )

Also my guess is that the stall current listed on the motor nameplate
is the continuous stall current, not the peak current. So its likely
that you would need to set the 8I20s peak current to 20 or 30 A
(2000 or 3000) to get the full potential torque from the motor

Yeah wondered that too, just tried to play safe for testing at 7.5a

OK
what does:
halcmd -kf

halcmd: unlinkp hm2_7i97.0.8i20.0.0.current
halcmd: setp hm2_7i97.0.8i20.0.0.current 5

do? does it cause motor motion (or detent torque)
(the "halcmd: " is a prompt, don't type it)

Tried that, it caused the servo to move and can turn it with hand, will "locate" itself in every 90degrees apart.

OK that means the 8i20 is enabled and working
so lack of motion is probably some problem(s)
with BLDC setup, either initialization or feedback

guess initialization is not the problem now when trying to use only "f" mode?

Did you verify that the commutation angle changes from 0 to 1 when you rotate the motor shaft 0 to 90 degrees?

If the motor current is always 0, did you trace the commanded current back through
the PID component, its inputs and tuning setup pins?