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TMS320F28069: STPOSCTL torque reference disturbance per one rotation

Part Number: TMS320F28069

Hello,

I have issue with STPOSCTL torque reference. There is a disturbance every one rotation from output STPOSCTL torque reference. This disturbance is not show when I use output (input for ctrl Iq ref) PI speed controller. When also set BW to higher value there is a loud "tick".

In the first figure green is torque refence and yellow is STPOSCONV output. BW is 20 and it is value what i need for stiffness.

the same with BW 5

output from PI speed controller

I try another motor and the same. With another motor this not happend, only with very, very high BW.

Thank you if you have any advice how to fixed this issue.