I'm building a motor for position control with a command rate ~10 Hz. I'm using MCSDK 6.2.1 with a 6-step algorithm and Hall sensors. The motor has a gear drive ratio ~400:1. The output shaft has a rotary encoder for position. I use the standard STM libraries for motor speed control and then manually implement position control based on encoder data.
The problem is that the motor has to start/stop with almost every position command, and startup is unreliable. On other projects using FOC I've found using a motor hold at 0 rpm helps - while the hold is not strong it makes the startup cleaner. However the 6-step libraries do not support the hold at 0 rpm function. Is there way to access this hold function in the 6-step libraries? Or some other method for improved startup function? Thanks in advance.
