8i20 brushless servo hall sensor set up

The rotor angle counts like you said it should.

clockwise
0 true true false
.1666667 tff
.3333333 tft
.5 fft
.6666667 ftt
.8333333 ftf

the pattern is 110 100 101 001 011 010 110 100 which looks like pattern 30.

I can't get q mode to work.

qi mode works and the rotor-angle counts in the same direction.(but with smaller increments)


It is an 8 pole motor.

Each hall changes state 8 times per motor revolution.

The rotor-angle display reads zero 4 times per motor revolution. (in both qi and h modes)


On a plus note-- I got the jog wheel MPG to work!! (in cfg=qi mode)

The origional Fanuc encoders (which I still have) are alpha A64 type A860-0360-v501 with 13 wires coming

out, and type A860-0315-t101 2000p with 16 wires.

Using LinuxCNC Master sounds intimidating for a beginner like myself.

The motor spins freely with every pattern.

When I do the above shown halrun session and the 8120 servo drive is enabled, the only result is a very faint wine sound that I can only hear if I hold my ear 3 inches from the motor. The pitch of this sound changes as I turn the motor with my fingers.

The sound stops if I un-unable 8i20.

I agree, I think that something is not linked properly in the hal program to supply current to the motor.

THAT WAS IT!!
It runs great now with pattern 22, I have not tried any other patterns yet.

Thanks for all of your help, I think that I am (very slowly) getting the hang of it.

halrun
enter
halcmd:
(copy,paste the commands below here)


loadrt hostmot2
loadrt hm2_pci config="sserial_port_0=0200xxxx"

loadrt threads name1=thread1 period1=1000000
loadrt bldc cfg=h


addf hm2_5i25.0.read thread1

addf bldc.0 thread1

addf hm2_5i25.0.write thread1
addf hm2_5i25.0.pet_watchdog thread1


net h1 hm2_5i25.0.7i84.0.1.input-24 bldc.0.hall1
net h2 hm2_5i25.0.7i84.0.1.input-25 bldc.0.hall2
net h3 hm2_5i25.0.7i84.0.1.input-26 bldc.0.hall3

net ang bldc.0.rotor-angle hm2_5i25.0.8i20.0.0.angle
setp bldc.0.pattern 22
setp hm2_5i25.0.8i20.0.0.amp_enable true

loadusr halmeter pin hm2_5i25.0.8i20.0.0.current
loadusr halmeter signal h1
loadusr halmeter signal h2
loadusr halmeter signal h3

setp hm2_5i25.0.8i20.0.0.current 0.1
start

The origional Fanuc encoders (which I still have) are alpha A64 type A860-0360-v501 with 13 wires coming

out, and type A860-0315-t101 2000p with 16 wires.

Using LinuxCNC Master sounds intimidating for a beginner like myself.

A860-0315-t101 2000p is a standard 2000 line (8000 count/turn) quadrature encoder with index
it has 4 bit Fanuc commutation signals instead of normal Hall signals but I am pretty sure the
BLDC comp can deal with these.

A64 type A860-0360-v501 is a 65536 count/turn absolute encoder with a 1024 count/1/4 turn commutation track
This would require LinuxCNC master to run but uses only 4 wires exclusive of power (no Halls no index etc)