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LAUNCHXL-F280049C: low speed torque

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Prodigy 120 points

Part Number: LAUNCHXL-F280049C
Other Parts Discussed in Thread: BOOSTXL-DRV8320RS, LAUNCHXL-F28069M, BOOSTXL-DRV8323RS, C2000WARE

Hi,

I have LAUNCHXL-F280049C + BOOSTXL-DRV8320RS to control my motor.

e2e.ti.com/.../launchxl-f280049c-low-speed-torque-foc

I try to encoder to add in project (is07). Because I want to when the motor low speed can have high Torque.

But I'm not sure which step is the problem.

I try change angleFoc_rad to encoder thetaElec, but the motorVars.faultNow is show overCurrent .

I check my encoder thetaElec range -pi to pi.

I want to replace the angle estimated by the FOC with the encoder. 
Because the encoder timing value is more accurate than the FOC estimated value.

But it will happen error about overCurrent .

I used to use LAUNCHXL-F28069m + BOOSTXL-DRV8323RS.
I have also used to replace the encoder with electrical angle, and it work.

So I'm not sure LAUNCHXL-F280049C + BOOSTXL-DRV8320RS whether other control conditions must be added to function properly.

Thanks,

Jerry