[Emc-users] Mesa 7i39 and BLDC

[propcoder <mar...@gm...>]

Today I tried to run BLDC motor with MESA 5i23 and 7i39HV. I used 12V 
PSU instead of 48V to be safe.
Motor has hall sensors and I mounted CUI encoder with quadrature A, B 
and index on it, set to 8192 counts per revolution.
I managed to spin the motor. This is what I am happy about. The motor is 
spinning nice in one direction - it runs quiet and smooth, I can't stop 
it's shaft by hand, but it runs with noise and vibration in opposite 
direction. I get joint following error often when vibrations grow up. 
And I can see over current LED blinking, PWM waveforms are interrupted 
periodically (motor phase on scope) when running in that direction..

I tried different modes: q, qi, qh, but asymmetry is almost the same. 
Except that sometimes I get joint following error right after power on 
or bldc init procedure gets bad result.

How to solve this problem, what should I look for?

And how this bldc init is made? Shouldn't it measure angles, going in 
both directions a bit and calculating average position?

What I would like to achieve is qi mode actually. But I can't make it 
work good even in qh mode.

I will be able to give my hal and ini files tomorrow. Attached file is 
the one which I used as a reference.