 Hello again and welcome to the troubleshooting of your PLDC motor design. I'll be presenting with André Holley and we will continue with the following setup. So we'll begin with a question why we will do a troubleshooting. Then we'll show how to solve the compile issues in the motor control workbench, go through the hardware prerequisites and we will validate our setup before we turn it on. Then we can find some runtime issues and we will explain how to tackle these. Then we'll come to the proper FOC startup and then we will tune the PI regulators within our motor control design. And finally we'll see how to set up the PI regulators analytically and how to develop our own hardware. Let's go. So first question is why troubleshooting? First, each setup is different. So we'll need to adapt our design to the requirements of our application because we may use new hardware, different motor, there are different application requirements changing all the time and we may as well try different control strategies. And finally, some setup combinations cannot be possible in the generated code, so we need to test these options. Each motor application is different. It depends on the load, our time, our temperature, some electric parameters. It's different from a selected model and have to be tuned separately. And for example, low-engined dance, high-speed motor, it's not so easy, it's necessary to help with this setup. Okay. Additionally, we may as well bring errors as humans because each designer was a beginner and he made a lot of assumptions that may not have been right. So he might have forgotten something or even reused old design without properly checking what was the original setup. And finally, our SDK isn't without bugs, so you need to try to overcome them if you find them in your application. At the end, our goal is a successful application, so let's go for it.