Why is torque falling at low speed?I'm running the motor in torque and speed modes with a hall sensors. The only problem I have is that something internal to the FOC software adjusts the torque down at (very) low and zero speed. I assume this is done...

 I am using a 57BL90 motor with Halls, 90 watts, testing at 24vdc. I am using the ST workbench to specify all of the parameters then generate the *.h files which are downloaded using Keil. I am able to achieve good high speed motor control but very l...