You probably don't even need bldc.
Try netting the 0-1 float pin directly to 8i20.0.angle
You should then find that the 8i20 runs the motor one way for positive current and the other way for negative.
If it doesn't then you can try swapping the motor wires around, one combination ought to work.
Only then is it worth putting the bldc comp in the chain, and all it is likely to do is insert an angular offset.
Snippets of my HAL where one motor has an aligned and correct pole-count resolver, and one motor doesn't. So one uses blddc and one doesn't
Code:
net x-counts hm2_5i24.0.resolver.00.rawcounts => bldc.0.rawcounts
setp bldc.0.scale -16777216
setp bldc.0.poles 8
setp bldc.0.encoder-offset 1700000
net x-angle bldc.0.rotor-angle hm2_8i20.008d.angle
net x-output hm2_8i20.008d.current
...
net z-angle hm2_5i24.0.resolver.01.angle hm2_8i20.0003.angle
net z-output hm2_8i20.0003.current
I think that your situation will look a lot more like my Z than my X
Note that I am using the hostmot2 "use_serial_numbers" option that identifies smart-serial devices by part of their serial number rather than by the socket they are plugged in to, so my pin names might look different to yours
