STM32G4 + STDRIVE101 + STL7DN6LF3. Sensored and FOC Control. Never goes below a certain RPM; is it possible to go at slow speed or superslow speed using FOC? At startup the motor goes smooth if without load, instead, with load goes jerky.

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If you manage to block the motor the torque will rise and rise, when it unblocks goes very fast, trying to regain the missed spins.