7i97+8i20 error function not found

Got it working pretty good. So it is now just the f mode, but obviously it uses the quadrature still. When you said that only the f mode would be enough, did you mean that it would not use the quadrature (A+ at all? 

But for what was the issue, is seems that the servo power wires had just to be flipped. So, now all three axis have different wire orders.. But it only worked good with the right order in every axis.

I have not done proper pid tuning yet. I can jog the x axis in one way 12000mm/min (should get it 15000mm/min like original), but then the other way becomes joint follow error. Y axis little bit lower values. Z axis have not tried the max speed. Are these just pid issue or rotor angle needs ro be adjusted or something else?

So all axis work pretty much just as perfect they should. I can move the axis some random amount when the machine is off, then when i power it on and hit enable, all axis is pretty much spot on, not actual movement happening but the servo will be still. And Z-axis have worked perfectly too, just need to adjust the hal so that when power off the brake will go on before servo will lose its power (drops 0.3mm now). Not a single sserial error happened since I flipped all the wires in right orderimage missing /media/kunena/emoticons/cool.png

Already milled a couple of pieces, looks to be already very precise when looking the axis actual values(0.001mm). Next step will be the proper pid tuning, and have to fiqure a way for getting spindle speed feedback from the fanuc drive. 

From the start I was having some serial communication errors now and then, that were caused by something regarding to Y-axis movement. Sometimes the issue happened once in couple months, but two weeks ago it happened almost every time I was using the machine. I did some research and tested and investigated pretty much everything, and I noticed that with only the cfq=f, using only the fanuc grayscale for bldc commutation, there were one spot four times in revolution that the motor did not have that much torque, and probably caused rotor phase current to rise quickly causing EMI issues.

But after that was discovered, I decided that i want to use the qi mode, so possible encoder replacement could be easier and cheaper in future if needed to be done. I have been fiddling with the init settings. I want the rotor alignment sequence to work in a way that when I open linuxcnc for the first time, press machine on button in GUI (F2), the rotor will do the rotor alignment sequence that ends when it finds the index mark. But, if the power-off or E-stop is pressed and after that turned back on, the alignment sequence would not be done again, because the encoder count is not interrupted and the rotor alignment should correspond to that still. I haven't had any luck with getting this to work like that, so now id like some advice or if somebody has used same kind of configuration for the same thing I would be grateful.


Here is the hal confiq from the Y-axis and ini file. So this works OK for the Y-axis now, exept id like to make the rotor homing only once:

  

Have you tried an "fq" config (or "fqi"). That should use the Fanuc commutation for initial starting and then use the quadrature position from that point on.

Probably . I haven't tried it.