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TMS320F28069M: Humming sound when starting identifying a motor

Part Number: TMS320F28069M

This is just a question regarding the identification process in lab2c.

During the first seconds or so when starting a new identification the motor is humming quite loud and also depending on the id current limits set in user.h. We are very curious to see which process is dealing with this sound? We might want to utilize this for a very specific application.

Can someone point us in the right direction to which function is responsible for this humming? What is the process? Seems like it is just testing the coils or something.