Hi @curtwilson
Thank for your answer, it was really helpful
Now I can drive the brushless.
0. I set the PowerBrick.EncClockDiv = 0
1. Skipped the open loop test
2. Did a Manual Phasing with IbBias
3. Finally, I tuned the servo with very low gains due to high encoder resolution
PMAC software is handling the rollover of the encoder counter very well, I don't see any problem in commutation as I expected before.
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At this time, I'm trying to fine tune the motor
With an x1.000 interpolation @4MHz digital encoder interface I could achieve 2 counts (0.26 urad - peak to peak) in-position stability
But with an x10.000 interpolation @50MHz digital encoder interface the max in-position stability I could achieve was 50 counts (6.7 urad - peak to peak) in-position stability, with the higher interpolation the expected in-position stability is 0.026 urad.
Do you think the higher encoder clock frequency (which the hardware doesn't sample robustly) is causing this behavior?