Hey guys, I have a BLDC Motor which I try to control using Xilinx FPGA. It's a sensor-less motor and I try to close a loop using the Encoder. My signals to the Motor are 3 Halls signals, PWM, Brake and direction. The signals are going through the following component http://www.google.co.il/url?sa=t&rct=j&q=&esrc=s&source=web&cd=1&ved=0CCkQFjAA&url=http%3A%2F%2Fwww.allegromicro.com%2F~%2FMedia%2FFiles%2FDatasheets%2FA3932-Datasheet.ashx&ei=AUg7UPK3NqGk0QXU6YHYCQ&usg=AFQjCNHvQ0cn-MFbhwnHGWcarssfM9HI-A&sig2=3gGAPHprHfl9IvWdN39tVw&cad=rja and at the end I get the 3 phases which go to the motor. So far I've managed to rotate it by closing a loop with the encoder which by that, I get the halls (I chose the halls using the Datasheet I posted above). I gave it a specific PWM and it rotates. My first problem is that I actually need to give it the first push (by Hand) for it to start rotating, how can I avoid it? Another thing is that I only have 6 selection for the halls and by that I divided the space (360 degrees). However I don't understand how can I put it in a middle point, between the flux created and a magnet? Another thing, what is the relation between the PWM and speed? Thanks a lot. Assaf.