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CCS/MOTORWARE: Changing the INSTASPIN MOTION controller start speed

Part Number: MOTORWARE

Tool/software: Code Composer Studio

Hi, 

I am using instaspin motion and I have an application where the motor starts as freewheeling - IE does not start from zero speed. I would like to establish a speed setpoint at a certain time during this freewheeling and ramp up the current to meet that setpoint to prevent the motor slowing down further (while not increasing the speed). The problem I am finding is when I set maximum acceleration and jerk as provided with Spintac the delay in maintaining the setpoint is unpredictable, since the speed controller starts from zero speed every time while the motor is actually spinning already.  

Could it possibly be explained how to achieve this? Currently the only workaround I can think of is to increase the minimum current to zero, set the Jerk and Acceleration limits to absolute maximum and then ramping to a speed below the target speed, changing the jerk and acceleration to the desired values and then ramping up to the current speed.

I found the functions, but I am not sure how they should be used:

STVELMOVE_setVelocityEnd(st_obj[mtrNum].velMoveHandle, _IQ(0.0));
STVELMOVE_setVelocityStart(st_obj[mtrNum].velMoveHandle, _IQ(0.0));

Thanks in advance for your help!